技术领域Technical Field
本发明涉及一种用于运行仓储和拣选系统的方法，在所述方法中，利用所述仓储和拣选系统的件货测量装置确定要由所述仓储和拣选系统的输送技术机构运输的件货的件货特性，将所确定的件货特性存储在配设给所述件货的数据存储器中，并且利用所述仓储和拣选系统的输送技术机构运输所述件货。The present invention relates to a method for operating a warehousing and order picking system, in which a piece-goods measuring device of the warehousing and order picking system is used to determine piece-goods characteristics of piece-goods to be transported by a conveying technology mechanism of the warehousing and order picking system, the determined piece-goods characteristics are stored in a data storage device assigned to the piece-goods, and the piece-goods are transported by the conveying technology mechanism of the warehousing and order picking system.
此外，本发明还涉及一种仓储和拣选系统，所述仓储和拣选系统包括用于运输件货的输送技术机构、用于确定所述件货的件货特性的件货测量装置以及用于将所述件货特性存储在配设给所述件货的数据存储器中的写入装置和用于从所述数据存储器读取所述件货特性的读取装置或者用于将所述件货特性存储在配设给所述件货的数据存储器中且用于从所述数据存储器读取所述件货特性的组合式的写入和读取装置。In addition, the present invention also relates to a warehousing and picking system, which includes a conveying technology device for transporting piece goods, a piece goods measuring device for determining the piece goods characteristics of the piece goods, and a writing device for storing the piece goods characteristics in a data storage device assigned to the piece goods and a reading device for reading the piece goods characteristics from the data storage device, or a combined writing and reading device for storing the piece goods characteristics in a data storage device assigned to the piece goods and for reading the piece goods characteristics from the data storage device.
背景技术Background Art
这样的方法和这样的仓储和拣选系统原则上从现有技术已知。在此，件货特性、例如其尺寸被检测并且为了以后使用而被存储。Such a method and such a storage and picking system are known in principle from the prior art. Here, the properties of the goods, such as their dimensions, are detected and stored for later use.
方法以及仓储和拣选系统也特别是已知的，其中，由件货测量装置确定件货与长方体形状的偏差，并且由件货测量装置或与其连接的评估单元进行关于输送机特性的分类，例如：“不可输送的”、“可输送的”、“可不良输送的”、“可良好输送的”。随后，采取如下措施，例如以便例如通过重新包装货物使不可输送的或可不良输送的件货变得可输送。Methods and storage and order picking systems are also known in particular, in which deviations of the pieces from a cuboid shape are determined by a piece measuring device and a classification is made by the piece measuring device or an evaluation unit connected thereto with regard to the conveyor properties, for example: "non-conveyable", "conveyable", "poorly conveyable", "well conveyable". Subsequently, measures are taken, for example, in order to make non-conveyable or poorly conveyable pieces conveyable, for example by repackaging the goods.
已知的方法以及仓储和拣选系统的缺点是：根据或多或少固定不变的方案进行分类，并且一直没有考虑(基于输送技术机构与件货之间的相互作用)对输送技术机构产生的对件货的输送产生不利影响的未知故障影响。A disadvantage of the known methods and storage and picking systems is that the sorting is carried out according to a more or less fixed scheme and unknown fault effects on the conveying system (due to the interaction between the conveying system and the goods) which have a negative impact on the conveying of the goods are never taken into account.
发明内容Summary of the invention
因此，本发明的目的在于，给出一种改进的用于运行仓储和拣选系统的方法以及一种改进的仓储和拣选系统。特别是应考虑对输送技术机构产生的对件货的输送产生不利影响的未知故障影响。Therefore, the object of the present invention is to provide an improved method for operating a storage and order picking system and an improved storage and order picking system. In particular, unknown fault effects on the conveying technology which have a negative impact on the conveying of the piece goods should be taken into account.
本发明的目的利用一种用于预测和/或避免在仓储和拣选系统中的未来故障的方法来实现，所述方法包括如下步骤：The object of the present invention is achieved by a method for predicting and/or avoiding future failures in a warehousing and order picking system, the method comprising the following steps:
a)利用所述仓储和拣选系统的件货测量装置确定要由所述仓储和拣选系统的输送技术机构运输的件货的件货特性，a) determining, by means of a piece-goods measuring device of the storage and order picking system, piece-goods properties of the piece-goods to be transported by the conveying technology of the storage and order picking system,
b)利用所述仓储和拣选系统的输出单元输出出现故障的概率(即输出出现故障的预测)，和/或利用所述仓储和拣选系统的控制装置当可能出现故障时引入降低出现所述故障的概率的措施，所述概率分别基于所输送的件货的件货特性，b) using an output unit of the storage and order picking system to output a probability of a fault (i.e., output a prediction of a fault), and/or using a control device of the storage and order picking system to introduce measures to reduce the probability of the fault when a fault may occur, the probabilities being based on the piece-goods characteristics of the conveyed piece-goods,
c)将所确定的件货特性存储在配设给所述件货的数据存储器中，c) storing the determined properties of the load in a data memory associated with the load,
d)利用所述仓储和拣选系统的输送技术机构运输所述件货，d) transporting the piece goods using the conveying technology of the storage and picking system,
e)当通过所述监控和分类单元确认在运输所述件货时有故障时通过所述仓储和拣选系统的监控和分类单元将所述件货的运输分类为有故障的，或者当在可预定的观察时段内通过所述监控和分类单元确认在运输所述件货时没有故障时通过所述监控和分类单元将所述运输分类为无故障的，e) classifying the transport of the piece of goods as faulty by the monitoring and classification unit of the storage and picking system when a fault in the transport of the piece of goods is detected by the monitoring and classification unit, or classifying the transport as non-faulty by the monitoring and classification unit when no fault in the transport of the piece of goods is detected by the monitoring and classification unit within a predeterminable observation period,
f)将所存储的件货特性和所述件货的运输的在所述步骤e)中确定的运输分类馈入到自学习算法中，并且f) feeding the stored characteristics of the piece of freight and the transport classification of the transport of the piece of freight determined in step e) into a self-learning algorithm, and
g)对于多个件货重复所述步骤a)至f)，并且在运输不同件货时借助于所述自学习算法根据所述不同件货的件货特性计算出现故障的概率(简称“故障概率”)，对于所述不同件货完成所述步骤a)至f)。g) Repeat steps a) to f) for multiple piece goods, and when transporting different piece goods, use the self-learning algorithm to calculate the probability of failure (referred to as "failure probability") based on the piece goods characteristics of the different piece goods, and complete steps a) to f) for the different piece goods.
本发明的目的也利用一种仓储和拣选系统来实现，所述仓储和拣选系统包括：The object of the present invention is also achieved by a warehousing and picking system, the warehousing and picking system comprising:
用于运输件货的输送技术机构；Conveyor technology for transporting piece goods;
用于确定所述件货的件货特性的件货测量装置；a piece of cargo measuring device for determining piece of cargo characteristics of the piece of cargo;
用于将所述件货特性存储在配设给所述件货的数据存储器中的写入装置以及用于从所述数据存储器读取所述件货特性的读取装置，或者用于将所述件货特性存储在配设给所述件货的数据存储器中且用于从所述数据存储器读取所述件货特性的组合式的写入和读取装置；a writing device for storing the properties of the piece of freight in a data memory associated with the piece of freight and a reading device for reading the properties of the piece of freight from the data memory, or a combined writing and reading device for storing the properties of the piece of freight in a data memory associated with the piece of freight and for reading the properties of the piece of freight from the data memory;
用于基于所确定的件货特性输出出现故障的概率(即输出出现故障的预测)的输出单元和/或用于基于所确定的件货特性当可能出现故障时引入降低出现所述故障的概率的措施的控制装置；An output unit for outputting a probability of a fault occurring based on the determined characteristics of the cargo piece (i.e., outputting a prediction of a fault occurring) and/or a control device for initiating measures to reduce the probability of a fault occurring when a fault is likely to occur based on the determined characteristics of the cargo piece;
监控和分类单元，所述监控和分类单元设置用于确认在运输所述件货时故障并且然后将所述件货的运输分类为有故障的，或者当在可预定的观察时段内通过所述监控和分类单元确认在运输所述件货时没有故障时将所述运输分类为无故障的；和a monitoring and classification unit configured to detect a fault in the transport of the piece of freight and then classify the transport of the piece of freight as faulty, or to classify the transport as non-faulty when no fault in the transport of the piece of freight is detected by the monitoring and classification unit within a predeterminable observation period; and
自学习算法，所存储的件货特性和所述件货的运输的运输分类能够馈入到所述自学习算法中，并且所述自学习算法构造用于在运输不同件货时根据所述不同件货的件货特性计算出现故障的概率(简称“故障概率”)。A self-learning algorithm, into which the stored piece cargo characteristics and the transport classification of the transport of the piece cargo can be fed, and the self-learning algorithm is constructed to calculate the probability of a failure (referred to as "failure probability") when transporting different piece cargoes based on the piece cargo characteristics of the different piece cargoes.
通过所提出的措施，件货在仓储和拣选系统的输送技术机构上造成的故障归因于所述件货的件货特性或者说与所述件货特性有关。通过收集多个件货的有关信息，可以识别出现故障的“模式”(如果存在这样的模式的话)。一旦这种知识从经验中得到，就可以预测故障，并且可以确定和显示出现故障的概率。还可以引入对策，以便避免所预测的故障的实际出现。以这种方式，特别是可以在事后识别出由在仓储和拣选系统的规划阶段中不考虑或不能考虑的确定的件货对仓储和拣选系统的负面影响。By means of the proposed measures, faults caused by piece goods on the conveying technology of the storage and picking system are attributed to the piece goods characteristics of the piece goods or are related to the piece goods characteristics. By collecting relevant information on a plurality of piece goods, it is possible to identify the "pattern" of the occurrence of faults (if such a pattern exists). Once this knowledge is obtained from experience, faults can be predicted and the probability of occurrence of faults can be determined and displayed. Countermeasures can also be introduced to avoid the actual occurrence of the predicted faults. In this way, in particular, it is possible to identify after the fact the negative impact of certain piece goods on the storage and picking system that was not or could not be considered in the planning phase of the storage and picking system.
“自学习算法”从经验中生成知识并且为此从示例中学习并且可以在学习阶段结束之后概括所述知识。在学习阶段的范围内，自学习算法建立基于训练数据的统计学模型。自学习算法的例子例如是人工神经网络、自学习决策树以及遗传算法。所描述的过程也称为“机器学习”。在本发明的范围内，学习或训练阶段特别是可以完全或部分地在仓储和拣选系统的持续运行中进行。"Self-learning algorithms" generate knowledge from experience and learn from examples for this purpose and can generalize this knowledge after the end of a learning phase. Within the scope of the learning phase, the self-learning algorithm creates a statistical model based on the training data. Examples of self-learning algorithms are, for example, artificial neural networks, self-learning decision trees and genetic algorithms. The described process is also referred to as "machine learning". Within the scope of the present invention, the learning or training phase can in particular be carried out completely or partially during the continuous operation of the storage and picking system.
“在运输件货时出现故障的概率”、简称“故障概率”特别是说明：一组具有相同(或类似的件货特性)的件货中有多少件货引起故障。10％的故障概率则意味着该组的10个件货中的1个件货造成仓储和拣选系统中的故障。如果观察单个的件货，这个说明也意味着90％的概率不会造成故障。在50％的故障概率时，造成故障的件货和不造成故障的件货保持平衡。即使在上面给出的基础上给出所述故障概率是有利的，但仍然可设想的是：在不同的基础上给出所述故障概率。The "probability of a failure when transporting piece goods", or "failure probability" for short, specifies in particular how many piece goods in a group of piece goods with the same (or similar piece goods characteristics) cause a failure. A failure probability of 10% means that 1 piece of the group of 10 piece goods causes a failure in the storage and picking system. If we look at individual piece goods, this also means that there is a 90% probability that no failure will occur. At a failure probability of 50%, the pieces that cause failures and those that do not are balanced. Even if it is advantageous to specify the failure probability on the basis given above, it is still conceivable that the failure probability is specified on a different basis.
在本发明的范围内，要输送或已输送的“件货”特别是可以理解为单个的货物、多个单个的货物的复合体或其中容纳有一个或多个货物(散装或复合体)的装载辅助器件。Within the scope of the present invention, a “piece of goods” to be conveyed or conveyed may be understood to mean, in particular, a single piece of goods, a complex of a plurality of single pieces of goods or a loading aid in which one or more pieces of goods (in bulk or in complex) are accommodated.
“装载辅助器件”用于容纳货物。装载辅助器件特别是可以理解为容器、纸箱等。根据上述定义，件货也可以由装载辅助器件构成。A "loading aid" is used to accommodate goods. A loading aid may be understood in particular to be a container, a carton, etc. According to the above definition, piece goods may also be formed by a loading aid.
在“仓储和拣选系统”中，货物例如可以在货物入口处交付和接收并且然后在必要时重新包装并且在货物仓库中入库。货物也可以根据订单拣选，亦即从货物仓库出库、整理成订单并且在货物出口处提供以用于运走。与制造过程完全不同，货物在货物入口与货物出口之间没有实质性变化。然而，小的形状改变是可能的，特别是在非刚性体、例如袋或包中或者然而也在其他柔性包装、例如由卡纸或塑料制成的包装中。In a "warehousing and picking system", goods can be delivered and received, for example, at a goods entrance and then repacked if necessary and stored in a goods warehouse. Goods can also be picked according to order, i.e., they are removed from the goods warehouse, organized into orders and provided at a goods exit for transport. In stark contrast to the manufacturing process, the goods do not substantially change between the goods entrance and the goods exit. However, small changes in shape are possible, especially in non-rigid bodies, such as bags or packages, but also in other flexible packaging, such as packaging made of cardboard or plastic.
仓储和拣选系统的“输送技术机构”通常用于件货的运输。件货特别是可以包括具有和没有货物的装载辅助器件和/或(在没有装载辅助器件的情况下运输的)货物。输送技术机构特别是可以划分成不同的功能区域，例如用于将货物从货物入口运输到仓储区域中的“入库输送技术机构”和用于将货物从仓储区域运输到拣选站的“出库输送技术机构”。输送技术机构还可以在技术上细分成“位置固定的输送技术机构”和“自动运行的输送车辆”。The "conveying technology" of storage and picking systems is usually used for the transportation of piece goods. The piece goods may include, in particular, loading aids with and without goods and/or goods (transported without loading aids). The conveying technology can be divided into different functional areas, for example, "inbound conveying technology" for transporting goods from the goods entrance to the storage area and "outbound conveying technology" for transporting goods from the storage area to the picking station. The conveying technology can also be technically subdivided into "fixed-position conveying technology" and "automatically operated conveying vehicles".
“位置固定的输送技术机构”为了货物运输需要固定安装的装置。位置固定的输送技术机构特别是理解为辊式输送机、带式输送机、链式输送机、竖直升降机和类似物。位置固定的输送技术机构也应理解为悬挂式输送装置，该悬挂式输送装置包括用于容纳件货的悬挂袋(优选每个悬挂袋一个件货)。“Stationary conveying equipment” means devices which require a fixed installation for the transport of goods. Stationary conveying equipment is understood to mean, in particular, roller conveyors, belt conveyors, chain conveyors, vertical elevators and the like. Stationary conveying equipment is also understood to mean suspended conveying devices which include suspension bags for accommodating piece goods (preferably one piece of goods per suspension bag).
在本发明的范围内，“自动运行的输送车辆”应理解为自行驶的无人驾驶的输送车辆或独立的地面输送车辆。In the context of the present invention, an “automatically operated transport vehicle” is to be understood as meaning a self-propelled, driverless transport vehicle or an independent ground transport vehicle.
“货架操作器”是自动运行的输送车辆，其在轨道上行驶的并且可以设计为单层货架操作器(也称为“穿梭车”)或多层货架操作器。由于货架操作器行驶所在的固定安装的轨道，所述货架操作器在本发明的范围内属于位置固定的输送技术机构。A "shelf manipulator" is an automatically operated transport vehicle that travels on rails and can be designed as a single-layer shelf manipulator (also called a "shuttle") or a multi-layer shelf manipulator. Due to the fixedly installed rails on which the shelf manipulator travels, the shelf manipulator belongs to the fixed-position transport technology within the scope of the present invention.
仓储和拣选系统可以具有位置固定的输送技术机构和自动运行的输送车辆。因此，所述步骤a)至g)可以共同涉及位置固定的输送技术机构和自动运行的输送车辆、仅涉及位置固定的输送技术机构或者仅涉及自动运行的输送车辆。The storage and picking system can have a fixed-position conveying technology mechanism and an automatically operated conveying vehicle. Therefore, the steps a) to g) can jointly involve a fixed-position conveying technology mechanism and an automatically operated conveying vehicle, only involve a fixed-position conveying technology mechanism or only involve an automatically operated conveying vehicle.
利用仓储和拣选系统的输送技术机构对件货的“运输”特别是可以包括利用输送技术机构的运输过程和进出仓储区域的入库和出库过程。输送技术机构特别是可以包括运输件货的运输面或者特别是可以包括运输器件(例如悬挂袋)，所述运输器件可以在存放空间中接收件货并且利用该运输器件运输的。The "transportation" of the piece goods by means of the conveyor technology of the storage and order picking system can include in particular the transport process by means of the conveyor technology and the storage and retrieval process in and out of the storage area. The conveyor technology can include in particular a transport surface for transporting the piece goods or in particular a transport device (e.g. a hanging bag) which can receive the piece goods in the storage space and transport them by means of the transport device.
仓储和拣选系统的“件货测量装置”用于检测件货的特性。所述件货特性可特别是以包括以下组中的一种或多种特性：所述件货的重量、所述件货的尺寸、所述件货与理论形状(特别是长方体形状)的偏差、所述件货的表面状况。The "piece goods measuring device" of the storage and picking system is used to detect the characteristics of the piece goods. The piece goods characteristics can especially include one or more characteristics from the following group: the weight of the piece goods, the size of the piece goods, the deviation of the piece goods from the theoretical shape (especially the cuboid shape), and the surface condition of the piece goods.
件货的尺寸可以理解为其长度、宽度、高度、表面积或体积。件货与(长方体)形状的偏差(即形状偏差或变形)特别是可以由凸部(件货的实际形状突出于理论形状)或凹部(件货的实际形状向内偏离理论形状)给出。凸部/凹部例如可以通过凸部/凹部与理论形状的(最大)法向距离、通过偏离理论形状的面积、通过在凸部/凹部与理论形状之间围成的体积或通过从所给出的参量之一或由这些参量的组合导出的尺寸数来给出。尺寸数例如可以是上述的面积与理论形状的表面之间的(无量纲的)比例或者是上述的体积与理论形状的体积之间的(无量纲的)比例。件货与(长方体)形状的偏差也可以包含件货上的偏差的位置，例如“上”、“下”、“左”、“右”、“前”、“后”。表面状况特别是可以是件货的表面的摩擦系数。然而，特别是当件货在表面上是吸湿的(并且例如在那里由卡纸或木料构成)时，表面状况例如也可以是件货的湿度值。The size of a piece of goods can be understood as its length, width, height, surface area or volume. The deviation of the piece of goods from the (rectangular) shape (i.e., shape deviation or deformation) can be given in particular by a convex part (the actual shape of the piece of goods protrudes from the theoretical shape) or a concave part (the actual shape of the piece of goods deviates inward from the theoretical shape). The convex part/concave part can be given, for example, by the (maximum) normal distance between the convex part/concave part and the theoretical shape, by the area deviating from the theoretical shape, by the volume enclosed between the convex part/concave part and the theoretical shape, or by a dimension number derived from one of the given parameters or a combination of these parameters. The dimension number can be, for example, the (dimensionless) ratio between the above-mentioned area and the surface of the theoretical shape or the (dimensionless) ratio between the above-mentioned volume and the volume of the theoretical shape. The deviation of the piece of goods from the (rectangular) shape can also include the position of the deviation on the piece of goods, such as "up", "down", "left", "right", "front", "back". The surface condition can be, in particular, the friction coefficient of the surface of the piece of goods. However, in particular when the good is hygroscopic on the surface (and consists of cardboard or wood, for example), the surface condition can also be a moisture value for the good.
经常通过根据现有技术的件货测量装置或与其相关的评估单元进行有关输送特性的分类，例如“不可输送的”、“可输送的”、“可不良输送的”、“可良好输送的”。对于本公开的目的，这些输送特性同样可以理解为件货特性，即使其严格而言描述的是件货与输送技术机构之间的相互作用。这种件货测量装置特别是可以理解为已经根据现有技术使用的件货测量装置，该件货测量装置具体地确定件货与理论形状的偏差并且由此导出输送特性。Frequently, a classification of the conveying characteristics, such as "non-conveyable", "conveyable", "poorly conveyable", "well conveyable", is performed by means of a load measuring device according to the prior art or an evaluation unit associated therewith. For the purposes of the present disclosure, these conveying characteristics are also to be understood as load characteristics, even if they strictly describe the interaction between the load and the conveying system. Such a load measuring device is to be understood in particular as a load measuring device already used according to the prior art, which specifically determines the deviation of the load from the theoretical shape and derives the conveying characteristics therefrom.
仓储和拣选系统的“输出单元”特别是可以包括显示器和/或扬声器。出现故障的概率例如可以是基于数字的(例如“故障概率＝30％”)或也可以是基于文本的(例如“故障概率是高的”)。此外，可以提出用于避免故障的建议(例如“建议重新包装件货”)。然而，“输出单元”绝不是强制必需的，而是应理解为可选的。The "output unit" of the storage and picking system can include, in particular, a display and/or a loudspeaker. The probability of a fault can be, for example, numerically based (e.g. "fault probability = 30%) or also text-based (e.g. "fault probability is high"). In addition, recommendations for avoiding faults can be made (e.g. "repackaging of the item is recommended"). However, the "output unit" is by no means mandatory but should be understood as optional.
仓储和拣选系统的“控制装置”用于控制致动器(特别是控制输送技术机构)、处理仓储和拣选系统的测量值和/或实施由仓储和拣选系统的运行员获得的指令。仓储和拣选系统的“控制装置”特别是用于进行件货的入库过程以及拣选订单的出库过程。The "control device" of the storage and picking system is used to control actuators (in particular, to control conveyor technology), process measured values of the storage and picking system and/or implement instructions received by the operator of the storage and picking system. The "control device" of the storage and picking system is used in particular to carry out the storage process of piece goods and the removal process of picking orders.
“数据存储器”例如可以集成在仓储和拣选系统的控制装置中。然而，数据存储器也可以直接安装在件货上或者是件货的部分、例如形式为RFID标签，在该RFID标签上能存储件货特性。The "data memory" can be integrated, for example, in the control device of the storage and picking system. However, the data memory can also be directly installed on the piece goods or is part of the piece goods, for example in the form of an RFID tag, on which the piece goods characteristics can be stored.
仓储和拣选系统的“监控分类单元”用于当通过输送技术机构运输和/或在仓储和拣选系统的输送技术机构上运输件货时监控件货的运输并且用于确定运输分类并且例如可以包括计算机或逻辑电路以及与其连接的相机、扫描仪和其他传感器，以用于监控输送技术机构。监控和分类单元特别是也可以读取安装在件货或者也安装在输送技术机构上的QR码、条形码和/或RFID标签。监控和分类单元特别是可以包括“移动数据采集单元”。利用件货上的QR码、条形码和/或RFID标签可以识别件货，利用输送技术机构上的QR码、条形码和/或RFID标签可以识别输送技术机构上的位置(特别是故障位置)。The "monitoring and classification unit" of the warehousing and picking system is used to monitor the transportation of the piece goods when the piece goods are transported by the conveying technical mechanism and/or on the conveying technical mechanism of the warehousing and picking system and to determine the transportation classification and may, for example, include a computer or logic circuit and a camera, scanner and other sensors connected thereto for monitoring the conveying technical mechanism. The monitoring and classification unit may in particular also read QR codes, bar codes and/or RFID tags installed on the piece goods or also installed on the conveying technical mechanism. The monitoring and classification unit may in particular include a "mobile data acquisition unit". The piece goods can be identified by using the QR code, bar code and/or RFID tag on the piece goods, and the position (in particular the fault position) on the conveying technical mechanism can be identified by using the QR code, bar code and/or RFID tag on the conveying technical mechanism.
“运输分类”给出件货通过仓储和拣选系统的运输是否引起故障。运输分类特别是可以假设如下值“运输故障”和“无运输故障”。当然，也可设想对故障进行较精确的分类，例如“件货卡住”、“件货翻倒”、“件货从输送技术机构掉落”等。The "transport classification" indicates whether the transport of a piece of goods through the storage and picking system caused a fault. In particular, the transport classification can assume the values "transport fault" and "no transport fault". Of course, more precise classifications of faults are also conceivable, such as "piece of goods stuck", "piece of goods overturned", "piece of goods fell from the conveyor system", etc.
“观察时段”是这样的时间段，在该时间段内通过监控和分类单元监控和分类件货的运输。观察时段特别是可以明确给出、亦即由具体的时间说明(例如八小时、两天、三周)或由预定的事件隐含地确定。这样的事件可以是经过输送技术机构上的确定的点或离开输送技术机构。因此，如果件货正常地经过或离开输送技术机构并且直到该时间点通过监控和分类单元确认在运输该件货时没有故障，则监控和分类单元将运输分类为无故障的。The "observation period" is the period of time during which the transport of the piece of freight is monitored and classified by the monitoring and classification unit. The observation period can in particular be specified explicitly, i.e. determined by a specific time specification (e.g. eight hours, two days, three weeks) or implicitly by a predetermined event. Such an event can be the passage through a certain point on the conveyor system or the departure from the conveyor system. Thus, if the piece of freight passes through or leaves the conveyor system normally and up to this point in time it has been confirmed by the monitoring and classification unit that there were no faults in the transport of the piece of freight, the monitoring and classification unit will classify the transport as fault-free.
本发明的其他有利的设计方案和改进方案现在由从属权利要求以及从结合附图的描述得出。Further advantageous embodiments and developments of the invention now emerge from the dependent claims and from the description in conjunction with the drawings.
有利的是：在(可预定地)多次完成所述步骤a)和c)至f)之后才实施所述步骤b)。通过这个措施确保：基于所述步骤b)的故障概率基于所评估的件货的足够大数量。特别是可以采取如下措施：在所述步骤a)之前没有进行足够长的训练或学习阶段(例如在仓储和拣选系统的持续运行之外)。Advantageously, step b) is not carried out until a (predeterminable) number of steps a) and c) to f) have been completed. This measure ensures that the probability of failure based on step b) is based on a sufficiently large number of evaluated piece goods. In particular, the following measure can be taken: no sufficiently long training or learning phase is carried out before step a) (for example outside of the continuous operation of the storage and picking system).
特别有利的是：所述件货是装载有货物的装载辅助器件，并且在所述步骤b)中引入的措施在于，将包含在所述装载辅助器件中的货物(在仓储和拣选系统的重新装载站处)重新装载到另外的装载辅助器件中或引入这样的重新装载，并且随后以所述步骤a继续)或将所述另外的装载辅助器件在没有完成所述步骤a)至g)的情况下在所述仓储和拣选系统的输送技术机构上运输。也就是说，仓储和拣选系统包括重新装载站，该重新装载站用于将货物从一个装载辅助器件重新装载到另外的装载辅助器件中。如果所运输的件货是装载有货物的装载辅助器件，则可以通过如下方式避免所预测的故障，即，将包含在装载辅助器件中的货物重新装载到不太可能出现故障的另外的装载辅助器件中。如果将货物重新装载的装载辅助器件可以先验地分级为正常的，则可以在没有完成所述步骤a)至g)的情况下利用仓储和拣选系统的输送技术机构运输该装载辅助器件。如果不能先验地假定装载辅助器件的正常状态，则可以以所述步骤a)继续。货物从一个装载辅助器件到另外的装载辅助器件的重新装载可以手动地(并且由仓储和拣选系统控制装置引导地)或自动地(基于仓储和拣选系统的控制装置的指令)或手动与自动组合地进行。It is particularly advantageous if the piece of cargo is a loading aid loaded with goods and the measure introduced in step b) consists in reloading the goods contained in the loading aid (at a reloading station of the storage and order picking system) into another loading aid or in introducing such a reloading and then continuing with step a) or transporting the other loading aid on the conveying technology of the storage and order picking system without completing steps a) to g). That is, the storage and order picking system comprises a reloading station for reloading goods from one loading aid into another loading aid. If the transported piece of cargo is a loading aid loaded with goods, the predicted failure can be avoided by reloading the goods contained in the loading aid into another loading aid that is less likely to fail. If the loading aid into which the goods are reloaded can be classified as normal a priori, the loading aid can be transported using the conveying technology of the storage and order picking system without completing steps a) to g). If a normal state of the loading aid cannot be assumed a priori, the step a) can be continued. The reloading of goods from one loading aid to another loading aid can be carried out manually (and guided by the storage and order picking system control device) or automatically (based on instructions of the storage and order picking system control device) or a combination of manual and automatic.
还有利的是：在所述步骤e)中(由监控和分类单元)检测出现故障的故障位置，在所述步骤f)中将所述故障位置馈入到所述自学习算法中，并且在所述步骤b)和g)中如下考虑所述故障位置，使得在运输所述件货时出现故障的故障概率根据所述件货的件货特性并且根据所述故障位置给出。由此，可以识别仓储和拣选系统中的对于件货特性的确定的分类关键的位置，即在所述位置上在运输该件货时经常出现故障。It is also advantageous if in step e) the fault location where the fault occurred is detected (by the monitoring and classification unit), in step f) the fault location is fed into the self-learning algorithm, and in steps b) and g) the fault location is taken into account in such a way that the probability of a fault occurring during the transport of the piece of goods is given as a function of the piece of goods properties of the piece of goods and as a function of the fault location. This makes it possible to identify locations in the storage and picking system that are critical for the specific nature of the piece of goods, i.e., locations at which faults frequently occur during the transport of the piece of goods.
还特别有利的是：在所述步骤b)中引入的措施在于，特别是当或仅当故障概率在绕过所预测的故障位置时变得较小时，在绕过所预测的故障位置的情况下在仓储和拣选系统的输送技术机构上运输件货。这种可能性特别是当仓储和拣选系统内的多个运输路径自由选择地用于件货时开启。例如可以规定：将件货入库到在入库过程(和必要时还有出库过程)期间较少可能或不太可能故障的仓储区域中。也可以规定：将件货经由运输期间较少可能或不太可能故障的运输路线运输到确定的目的地。也可设想的是：如果对于备选的自动拣选过程可能故障，则拣选过程(其中件货作为源装载辅助器件起作用)手动地进行，并且反之亦然。It is also particularly advantageous that the measure introduced in step b) consists in transporting the piece goods on the conveying technology of the storage and picking system while bypassing the predicted fault location, in particular when or only when the probability of failure becomes smaller when bypassing the predicted fault location. This possibility is opened up in particular when multiple transport paths within the storage and picking system are freely selectable for the piece goods. For example, it can be provided that the piece goods are stored in a storage area where failure is less likely or less likely during the storage process (and, if necessary, the outbound process). It can also be provided that the piece goods are transported to a certain destination via a transport route where failure is less likely or less likely during transportation. It is also conceivable that if a failure is possible for the alternative automatic picking process, the picking process (in which the piece goods act as a source loading auxiliary device) is carried out manually, and vice versa.
也特别有利的是：所述件货是装载有货物的装载辅助器件并且在所述步骤b)中引入的措施在于，It is also particularly advantageous if the piece of cargo is a loading aid loaded with goods and if the measure introduced in step b) consists in that:
i)将所述件货在绕过所预测的故障位置的情况下在所述仓储和拣选系统的输送技术机构上运输，如果这是可能的话，或者i) transporting the piece of goods on the conveyor technology of the storage and order picking system while bypassing the predicted fault location, if this is possible, or
ii)如果所述步骤i)是不可能的话，将包含在所述装载辅助器件中的货物(在仓储和拣选系统的重新装载站处)重新装载到另外的装载辅助器件中，并且随后以所述步骤a)继续或将所述另外的装载辅助器件在没有完成所述步骤a)至g)的情况下在所述仓储和拣选系统的输送技术机构上运输。ii) if step i) is not possible, reloading the goods contained in the loading aid into another loading aid (at the reloading station of the storage and order picking system) and subsequently continuing with step a) or transporting the other loading aid on the conveying technology of the storage and order picking system without completing steps a) to g).
在这个变型方案中，尽可能避免(耗时的)重新装载过程，即当可以通过在绕过所预测的故障位置的情况下在仓储和拣选系统的输送技术机构上运输件货来避免所预测的故障时。必要时也可以当虽然所述步骤i)原则上是可能的、但由此能实现的故障概率降低变得很小、特别是小于通过步骤ii)能实现的故障概率降低时实施所述步骤ii)。In this variant, (time-consuming) reloading operations are avoided as much as possible, i.e., when the predicted fault can be avoided by transporting the goods on the conveyor system of the storage and sorting system while bypassing the predicted fault location. If necessary, step i) can also be carried out when, although step i) is in principle possible, the reduction in the probability of fault that can be achieved thereby is very small, in particular less than the reduction in the probability of fault that can be achieved by step ii).
还特别有利的是：在所述步骤b)中引入的措施在于，特别是当或仅当故障概率在改变所预测的故障位置上的运行参数时变得较低时，改变输送技术机构在所预测的故障位置上的运行参数。这种可能性特别是当在所预测的故障位置上为输送技术机构提供能调节的运行参数时开启。“运行参数”是对于输送技术机构能调节的调节参数，以用于影响输送技术机构的运行。“运行参数”可以例如理解为输送技术机构上的输送速度和/或输送技术机构上的加速度。例如可设想的是：在输送件货时在所预测的故障位置上降低输送速度和/或加速度。It is also particularly advantageous if the measure introduced in step b) consists in changing the operating parameters of the conveying technology at the predicted fault location, in particular when or only when the probability of a fault becomes lower when changing the operating parameters at the predicted fault location. This possibility is opened up in particular when adjustable operating parameters are provided for the conveying technology at the predicted fault location. "Operating parameters" are adjustable control parameters for the conveying technology in order to influence the operation of the conveying technology. "Operating parameters" can be understood, for example, as conveying speeds on the conveying technology and/or accelerations on the conveying technology. For example, it is conceivable to reduce the conveying speed and/or acceleration at the predicted fault location when conveying piece goods.
还特别有利的是：所述件货是装载有货物的装载辅助器件，并且在所述步骤b)中引入的措施在于：It is also particularly advantageous if the piece of cargo is a loading aid loaded with goods and the measures introduced in step b) are:
i)改变所述输送技术机构在预测故障位置上的运行参数，如果这是可能的话，或者i) changing the operating parameters of the conveyor system at the predicted fault location, if this is possible, or
ii)如果所述步骤i)是不可能的话，将包含在所述装载辅助器件中的货物(在所述仓储和拣选系统的重新装载站处)重新装载到另外的装载辅助器件中，并且随后以所述步骤a)继续或将所述另外的装载辅助器件在没有完成所述步骤a)至g)的情况下在所述仓储和拣选系统的输送技术机构上运输。ii) If step i) is not possible, the goods contained in the loading aid are reloaded into another loading aid (at the reloading station of the warehousing and order picking system) and then continued with step a) or the further loading aid is transported on the conveying technology of the warehousing and order picking system without completing steps a) to g).
在这个变型方案中，又尽可能避免(耗时的)重新加载过程，即当可以通过改变输送技术机构在所预测的故障位置上的运行参数来避免所预测的故障时。必要时也可以当虽然所述步骤i)原则上是可能的、但由此能实现的故障概率降低变得很小、特别是小于通过步骤ii)能实现的故障概率降低时实施所述步骤ii)。In this variant, (time-consuming) reloading processes are again avoided as much as possible, i.e., when the predicted fault can be avoided by changing the operating parameters of the conveyor system at the predicted fault location. If necessary, step i) can also be carried out when, although step i) is in principle possible, the reduction in the probability of fault that can be achieved thereby is very small, in particular less than the reduction in the probability of fault that can be achieved by step ii).
还有利的是：所述件货是装载有货物的装载辅助器件，并且在所述步骤b)中引入的措施在于：It is also advantageous if the piece of cargo is a loading aid loaded with cargo, and the measures introduced in step b) are:
i)将所述件货在绕过所预测的故障位置的情况下在所述仓储和拣选系统的输送技术机构上运输，如果这是可能的话，或者i) transporting the piece of goods on the conveyor technology of the storage and order picking system while bypassing the predicted fault location, if this is possible, or
ii)改变所述输送技术机构在预测故障位置上的运行参数，如果这是可能的话，或者ii) changing the operating parameters of the conveyor system at the predicted fault location, if this is possible, or
iii)如果所述步骤i)或所述步骤ii)是不可能的话，将包含在所述装载辅助器件中的货物(在所述仓储和拣选系统的重新装载站处)重新装载到另外的装载辅助器件中，并且随后以所述步骤a)继续，或将所述另外的装载辅助器件在没有完成所述步骤a)至g)的情况下在所述仓储和拣选系统的输送技术机构上运输。iii) If step i) or step ii) is not possible, the goods contained in the loading aid are reloaded into another loading aid (at the reloading station of the warehousing and picking system) and then continue with step a), or the further loading aid is transported on the conveying technology of the warehousing and picking system without completing steps a) to g).
在这个变型方案中，同样尽可能避免(耗时的)重新装载过程，即当可以通过将件货在绕过所预测的故障位置的情况下在仓储和拣选系统的输送技术机构上运输或者通过改变输送技术机构在所预测的故障位置上的运行参数来避免所预测的故障时。必要时也可以当虽然所述步骤i)或所述步骤ii)原则上是可能的、但由此能实现的故障概率降低变得很小、特别是小于通过步骤i)和ii)能实现的故障概率降低时实施所述步骤iii)。对于所述步骤i)和ii)可以进行固定的优先级排序(即仅当步骤i)是不可能的时实施步骤ii)或者反之亦然)或者根据能实现的故障概率降低进行优先级排序(即实施所述步骤i)或ii)中的能实现最大的故障概率降低的步骤)。In this variant, (time-consuming) reloading processes are also avoided as much as possible, i.e., when the predicted fault can be avoided by transporting the piece of goods on the conveying technology of the storage and sorting system while bypassing the predicted fault location or by changing the operating parameters of the conveying technology at the predicted fault location. If necessary, step iii can also be implemented when step i) or step ii) is in principle possible, but the reduction in the probability of fault that can be achieved thereby becomes very small, in particular, less than the reduction in the probability of fault that can be achieved by steps i) and ii). For steps i) and ii), a fixed priority can be assigned (i.e., step ii) is only performed when step i) is not possible or vice versa) or a priority is assigned according to the achievable reduction in the probability of fault (i.e., the step in step i) or ii) that achieves the greatest reduction in the probability of fault is performed).
还有利的是：对于如下的件货跳过所述步骤f)(并且必要时也跳过所述步骤e))，对于所述件货，在所述步骤b)中引入的措施在于，将所述件货在绕过所预测的故障位置的情况下在所述仓储和拣选系统的输送技术机构上运输，或者对于所述件货，在所述步骤b)中引入的措施在于，改变所述输送技术机构在所预测的故障位置上的运行参数。由此避免：所述自学习算法错误地假设已经造成主动干预以避免故障的关键件货原则上是不关键的，因为它不会造成实际故障(然而这在用于避免故障的主动干预中是有根据的)。有关的件货例如可以以“标志”标记并且排除在学习过程之外。对于所述自学习算法，其则实际上不存在，如同在货物从一个装载辅助器件重新装载到另外的装载辅助器件时也是所述情况。在这里，(预计)造成故障的件货(也在物理上)被摒弃并且因此不再发生在进一步的过程中。It is also advantageous to skip step f) (and, if necessary, also step e)) for piece goods for which the measure introduced in step b) consists in transporting the piece goods on the conveying technology of the storage and picking system while bypassing the predicted fault location, or for which the measure introduced in step b) consists in changing the operating parameters of the conveying technology at the predicted fault location. This avoids the self-learning algorithm from erroneously assuming that a critical piece of goods that has already caused active intervention to avoid a fault is in principle not critical, since it does not cause an actual fault (however, this is justified in the active intervention to avoid a fault). The piece of goods concerned can be marked, for example, with a "flag" and excluded from the learning process. For the self-learning algorithm, they do not actually exist, as is also the case when goods are reloaded from one loading aid to another. Here, the piece of goods that (are expected) to cause a fault are (also physically) discarded and therefore no longer occur in the further process.
还有利的是：在所述步骤e)中检测输送技术机构在故障位置上的运行状态，在所述步骤f)中将所述运行状态馈入到所述自学习算法中，并且在所述步骤b)和g)中考虑所述运行状态，使得在运输所述件货时出现故障的故障概率根据所述件货的件货特性、根据所述故障位置并且根据所述故障位置上的运行状态给出。由此，可以识别故障位置上的运行状态，该故障位置对于件货特性的确定的分类是关键的，即其中在运输该件货时经常出现故障。输送技术机构的“运行状态”特别也是预定的运行参数的结果。例如可以提供与输送技术机构的负载相关的值例如“空转”、“部分负载运行”或“满负载运行”或者与故障相关的值例如“正常运行”或“故障运行”。当然，运行状态也可以采用详细地表征的值并且特别是详细地描述故障。所提到的“运行状态”例如可以通过输送装置的振动来表征或对其描述，例如当在输送装置的运动构件中发生轴承损坏时。例如会设想的是：在统计学上观察，轻的件货经常从竖直升降机掉落，该竖直升降机的引导系统不再毫无问题地起作用并且在其上因此出现增强的振动。It is also advantageous that the operating state of the conveying technical mechanism at the fault position is detected in step e), the operating state is fed into the self-learning algorithm in step f), and the operating state is taken into account in steps b) and g) so that the probability of a fault occurring when transporting the piece of goods is given according to the piece of goods characteristics of the piece of goods, according to the fault position and according to the operating state at the fault position. As a result, an operating state at the fault position can be identified, which is critical for the classification of the determination of the piece of goods characteristics, i.e., where faults often occur when transporting the piece of goods. The "operating state" of the conveying technical mechanism is also the result of predetermined operating parameters. For example, values related to the load of the conveying technical mechanism, such as "idling", "partial load operation" or "full load operation" or values related to faults, such as "normal operation" or "faulty operation" can be provided. Of course, the operating state can also adopt a value characterized in detail and in particular describe the fault in detail. The "operating state" mentioned can be characterized or described, for example, by the vibration of the conveying device, for example when bearing damage occurs in the moving components of the conveying device. For example, it may be assumed that, based on statistical observations, light piece goods often fall from a vertical lift, the guide system of which no longer functions properly and therefore increases vibrations occur therein.
还有利的是：仅当对于在所预测的故障位置上存在的运行状态可能有故障时引入在运输所述件货时在所述仓储和拣选系统的输送技术机构上绕过所预测的故障位置或改变所述输送技术机构在所预测的故障位置上的运行参数。这个变型方案考虑：输送技术机构的运行状态可以随时间改变。这种情况特别是涉及对输送技术机构的维修，在此之后运行状态可能突然变好。故障位置例如可以对于件货特性的确定的分类在维修之后突然是不关键的，由此可以避免件货的改道或对运行参数的干预。这个变型方案特别是也可以应用于更上面提到的步骤i)、ii)和iii)，在此考虑故障位置上的运行状态。一个例子是维修上面述及的竖直升降机的有缺陷的引导系统，由此可以避免未来过度的振动。在统计学上观察，即使是轻的件货也不会再经常(或根本不会)意外地从竖直升降机掉落。It is also advantageous that only when there is a possible fault in the operating state existing at the predicted fault position, the predicted fault position is bypassed on the conveying technology mechanism of the storage and picking system when transporting the piece of goods or the operating parameters of the conveying technology mechanism at the predicted fault position are changed. This variant takes into account that the operating state of the conveying technology mechanism can change over time. This situation particularly relates to the maintenance of the conveying technology mechanism, after which the operating state may suddenly improve. The fault position may, for example, suddenly become uncritical for a certain classification of the characteristics of the piece of goods after the maintenance, thereby avoiding the diversion of the piece of goods or the intervention of the operating parameters. This variant can also be applied in particular to the above-mentioned steps i), ii) and iii), in which the operating state at the fault position is taken into account. An example is the maintenance of the defective guide system of the vertical lift mentioned above, thereby avoiding excessive vibrations in the future. Statistically, even light piece of goods will no longer fall accidentally from the vertical lift frequently (or not at all).
还有利的是：在所述步骤e)中(由所述监控和分类单元)检测从所述件货转移到所述输送技术机构上的时间点直到出现故障所经过的故障时间(必要时扣除件货在所述仓储和拣选系统的仓储区域中入库的时间段)和/或从所述件货在所述输送技术机构上直到出现故障所经过的故障位移，在所述步骤f)中将所述故障时间和/或所述故障位移馈入到所述自学习算法中，并且在所述步骤b)和g)中如下考虑所述故障时间和/或所述故障位移，使得在运输所述件货时出现故障的故障概率根据所述件货的件货特性并且根据所述故障时间和/或所述故障位移给出。由此可以确定：是较可能在件货在输送技术机构上的确定的停留时间之后出现故障，还是较可能在输送技术机构上经过确定的路径之后出现故障，并且因此应有利地实施步骤b)。所述及的位移特别是可以(仅)与所经过的位移距离有关或者也可以包含路线信息。当件货经常经过担心件货特性变化的位置时，例如更可能预期到故障。例如经过入货和出货可能导致件货的不利变形。It is also advantageous that in step e) the fault time (possibly minus the time period during which the piece of goods is stored in the storage area of the storage and sorting system) from the time of the transfer of the piece of goods to the conveying system until the fault occurs and/or the fault distance travelled from the piece of goods on the conveying system until the fault occurs is detected (by the monitoring and sorting unit), the fault time and/or the fault distance travelled from the piece of goods on the conveying system until the fault occurs are fed into the self-learning algorithm in step f), and the fault time and/or the fault distance are taken into account in steps b) and g) in such a way that the fault probability of a fault occurring during the transport of the piece of goods is given as a function of the piece of goods characteristics of the piece of goods and as a function of the fault time and/or the fault distance. It can thus be determined whether the fault is more likely to occur after a certain dwell time of the piece of goods on the conveying system or after a certain path of the piece of goods on the conveying system, and step b should therefore be advantageously implemented. The distance mentioned can in particular be related (only) to the distance of the distance travelled or can also contain route information. For example, a fault is more likely to be expected when the piece of goods frequently passes through locations where there is a concern about changes in the characteristics of the piece of goods. For example, incoming and outgoing shipments may result in adverse deformation of the goods.
然而特有利的是：所述步骤b)、e)、f)和g)与从所述件货转移到所述输送技术机构上的时间点直到出现故障所经过的故障时间(必要时扣除所述件货在所述仓储和拣选系统的仓库中入库的时间段)和/或从所述件货在所述输送技术机构上直到出现故障所经过的故障位移无关地实施。研究已证实：故障经常在件货转移到仓储和拣选系统的输送技术机构上之后不久出现并且之后较小可能出现。在这个变型方案中省去对故障时间和/或故障位移的考虑，以有利于所述自学习算法的简化结构。However, it is particularly advantageous that steps b), e), f) and g) are performed independently of the fault time from the time when the piece of goods was transferred to the conveying system until the fault occurred (if necessary, minus the time period during which the piece of goods was stored in the warehouse of the storage and picking system) and/or the fault distance from the time when the piece of goods was on the conveying system until the fault occurred. Studies have shown that faults often occur shortly after the piece of goods was transferred to the conveying system of the storage and picking system and are less likely to occur thereafter. In this variant, the consideration of the fault time and/or the fault distance is omitted in order to simplify the structure of the self-learning algorithm.
还有利的是：对于同一个件货完成多次所述步骤a)至g)。由此，可以考虑件货特性的随时间出现的变化。It is also advantageous if steps a) to g) are carried out several times for the same piece of freight. This allows changes in the properties of the piece of freight to be taken into account over time.
还有利的是：如果所述故障概率超过可预定的阈值，则在所述步骤b)中引入基于出现故障的概率的措施。以这种方式，可以控制所述仓储和拣选系统对所预测的故障起反应的敏感程度。当所述故障概率超过10％、超过20％或超过其他可预定的值时，例如可以在步骤b)中引入基于出现故障的故障概率的措施。附加地可以规定：在步骤b)中引入基于故障概率的措施的置信度(即由自学习算法输出的故障概率的安全性或可靠性)必须高于第二阈值。也就是说可以规定：仅当由自学习算法输出的故障概率是可靠的(即相当安全的)值时引入在步骤b)中提供的措施。It is also advantageous that measures based on the probability of a failure are introduced in step b) if the failure probability exceeds a predeterminable threshold value. In this way, the sensitivity with which the storage and picking system reacts to a predicted failure can be controlled. When the failure probability exceeds 10%, exceeds 20% or exceeds another predeterminable value, measures based on the probability of a failure can be introduced in step b), for example. In addition, it can be provided that the confidence level of the measures based on the failure probability introduced in step b) (i.e. the safety or reliability of the failure probability output by the self-learning algorithm) must be above a second threshold value. In other words, it can be provided that the measures provided in step b) are introduced only when the failure probability output by the self-learning algorithm is a reliable (i.e. quite safe) value.
在所提出的方法的另一个有利的变型方案中，所述监控和分类单元：In a further advantageous variant of the proposed method, the monitoring and classification unit:
从在所述件货上设置的数据存储器读取配设给所述件货的件货特性并且将所述件货特性与在所述步骤e)中确定的运输分类共同传输给所述自学习算法，或者The piece of freight property assigned to the piece of freight is read from a data memory provided on the piece of freight and the piece of freight property is transmitted to the self-learning algorithm together with the transport classification determined in step e), or
确定在所述件货上设置的标识(例如QR码、条形码或RFID标签)，从所述数据存储器读取配设给所述标识的件货特性并且将所述件货特性与在所述步骤e)中确定的运输分类共同传输给所述自学习算法。An identification (eg, a QR code, a barcode or an RFID tag) provided on the freight item is determined, freight item properties associated with the identification are read from the data memory and the freight item properties are transmitted together with the transport classification determined in step e) to the self-learning algorithm.
因此，所述仓储和拣选系统的监控和分类单元设置用于：Therefore, the monitoring and sorting unit of the storage and picking system is configured to:
从在件货上设置的数据存储器读取配设给所述件货的件货特性并且将所述件货特性与所述运输分类共同传输给所述自学习算法，或者The piece of freight property assigned to the piece of freight is read from a data memory provided on the piece of freight and the piece of freight property is transmitted together with the transport classification to the self-learning algorithm, or
确定在所述件货上设置的标识(例如QR码、条形码或RFID标签)，从所述数据存储器读取配设给所述标识的件货特性并且将所述件货特性与所述运输分类共同传输给所述自学习算法。An identification (eg, a QR code, a barcode or an RFID tag) provided on the freight item is determined, a freight item property associated with the identification is read from the data memory and the freight item property is transmitted together with the transport classification to the self-learning algorithm.
件货特性与件货的配设则可以直接进行，其方式是，在所述件货上设置数据存储器，在所述数据存储器上存储由件货测量装置确定的件货特性。然而，件货特性与件货的配设也可以间接地经由在件货上设置的标识进行。也就是说，经由标识来识别所述件货，并且经由标识访问在数据存储器中关于该件货存储的数据。换言之，可以找到数据存储器中的存储空间，在该存储空间上存储由件货测量装置确定的件货特性。用于多个件货的件货特性的数据存储器特别是也可以理解为“数据库”。The configuration of the characteristics of the piece of cargo with the piece of cargo can then be carried out directly by providing a data storage device on the piece of cargo, in which the characteristics of the piece of cargo determined by the piece of cargo measuring device are stored. However, the configuration of the characteristics of the piece of cargo with the piece of cargo can also be carried out indirectly via an identifier provided on the piece of cargo. That is to say, the piece of cargo is identified via the identifier, and the data stored about the piece of cargo in the data storage device is accessed via the identifier. In other words, a storage space in the data storage device can be found, in which the characteristics of the piece of cargo determined by the piece of cargo measuring device are stored. A data storage device for the characteristics of the piece of cargo for a plurality of piece of cargo can also be understood in particular as a "database".
在所提出的方法的另一个有利的变型方案中规定：通过监控和分类单元的移动数据采集单元从在件货上设置的数据存储器读取配设给件货的件货特性或者通过监控和分类单元的移动数据采集单元确定在件货上设置的标识(例如QR码、条形码或RFID标签)。因此，所述仓储和拣选系统的监控和分类单元包括移动数据采集单元，所述移动数据采集单元设置用于从在所述件货上设置的数据存储器读取配设给所述件货的件货特性或者确定在所述件货上设置的标识(例如QR码、条形码或RFID标签)。在这个实施变型方案中，所述监控和分类单元也包括移动(便携)数据采集单元(例如平板电脑)，利用其可以识别造成故障的件货或者利用其可以读取配设给件货的件货特性。有利地，以这种方式也可以实现位于监控和分类单元的固定安装的相机、扫描仪和其他传感器的检测区域之外的件货。In another advantageous variant of the proposed method, it is provided that the unit properties assigned to the unit goods are read from a data storage device provided on the unit goods by a mobile data acquisition unit of the monitoring and sorting unit or the identification (e.g. QR code, barcode or RFID tag) provided on the unit goods is determined by the mobile data acquisition unit of the monitoring and sorting unit. Therefore, the monitoring and sorting unit of the storage and picking system includes a mobile data acquisition unit, which is configured to read the unit properties assigned to the unit goods from a data storage device provided on the unit goods or to determine the identification (e.g. QR code, barcode or RFID tag) provided on the unit goods. In this embodiment variant, the monitoring and sorting unit also includes a mobile (portable) data acquisition unit (e.g. tablet computer), with which the unit goods causing the fault can be identified or with which the unit properties assigned to the unit goods can be read. Advantageously, in this way, it is also possible to detect unit goods that are outside the detection range of fixedly installed cameras, scanners and other sensors of the monitoring and sorting unit.
还有利的是：Also beneficial is:
所述仓储和拣选系统包括具有用于存放件货的仓储场地的仓储区域，The storage and picking system comprises a storage area with a storage space for storing piece goods,
所述件货测量装置设置在所述输送技术机构的路线中并且所述输送技术机构将所述重新装载站与所述仓储区域在输送技术上连接，并且The piece goods measuring device is arranged in the path of the conveyor system and the conveyor system connects the reloading station to the storage area in terms of conveyor technology, and
所述输送技术机构具有转向装置，所述转向装置设置用于将所述件货根据出现故障的概率直接运输到所述仓储区域或重新装载站。The conveying system has a diverting device which is provided for transporting the piece goods directly to the storage area or to a reloading station, depending on the probability of a malfunction.
借助于转向装置可以根据故障概率将件货运输到重新装载站。转向装置可以包括能通过控制装置操纵的转向器件，例如推动器(Pusher)、辊转向器、带转换器等。输送技术机构可以包括转向装置。With the help of the deflection device, the piece goods can be transported to the reloading station according to the probability of failure. The deflection device can include a deflection device that can be controlled by a control device, such as a pusher, a roller deflector, a belt converter, etc. The conveying technology can include a deflection device.
在这一点上应注意：对于所提出的方法公开的变型方案和优点同样涉及所提出的仓储和拣选系统，并且反之亦然。At this point it should be noted that the variants and advantages disclosed for the proposed method also relate to the proposed storage and order picking system, and vice versa.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了较好地理解本发明，借助后续附图详细地解释本发明。In order to better understand the present invention, the present invention is explained in detail with reference to the following drawings.
分别在非常简化的示意图中：Respectively in a very simplified schematic:
图1以俯视图示出示例性的、示意性示出的仓储和拣选系统；FIG. 1 shows an exemplary, schematically illustrated warehousing and order picking system in a top view;
图2示出示意性示出的件货测量装置的详细侧视图；FIG2 shows a detailed side view of a schematically illustrated piece goods measuring device;
图3示出仓储和拣选系统的控制和计算架构的框图，其中特别涉及自学习算法的学习阶段；FIG3 shows a block diagram of the control and computing architecture of the warehousing and picking system, particularly with respect to the learning phase of the self-learning algorithm;
图4示出仓储和拣选系统的控制和计算架构的框图，其中特别涉及自学习算法的学习阶段；FIG4 shows a block diagram of the control and computing architecture of the warehousing and picking system, particularly with respect to the learning phase of the self-learning algorithm;
图5示出具有移动数据采集单元的控制和计算架构的框图，并且FIG5 shows a block diagram of a control and computing architecture with a mobile data acquisition unit, and
图6示出所提出的方法的流程的示例性的图解图。FIG. 6 shows an exemplary diagrammatic representation of the sequence of the proposed method.
具体实施方式DETAILED DESCRIPTION
首先要指出：在不同描述的实施方式中，相同部件设有相同的附图标记或者说相同的构件名称，其中，在整个说明书中包含的公开内容能够按意义转用到具有相同的附图标记或者说相同的构件名称的相同部件上。在说明书中所选择的位置说明例如上、下、侧向等等也参考直接描述的以及示出的附图并且这些位置说明在位置改变时按意义转用到新的位置上。First of all, it should be pointed out that in the different described embodiments, the same parts are provided with the same reference numerals or the same component names, wherein the disclosure contained in the entire description can be transferred to the same parts with the same reference numerals or the same component names. Selected positional descriptions in the description, such as top, bottom, sideways, etc., also refer to the directly described and shown figures and these positional descriptions are transferred to the new positions in the event of a change in position.
图1示出示例性的仓储和拣选系统1，该仓储和拣选系统包括建筑物2，该建筑物具有货物入口3以及货物出口4。仓储和拣选系统1还包括具有仓储货架6的货物仓库5以及在仓储货架6之间移动的货架操作器7。在这个示例中，货物仓库5被划分成多个仓储区域8a…8e。在仓储区域8a…8d中设置有仓储货架6，反之，仓储区域8e通过地面上的停放区域构成。仓储和拣选系统1还包括将货物仓库5与货物入口3和货物出口4连接的输送技术机构9。在这个示例中，输送技术机构9被分成入库输送技术机构9a、仓库输送技术机构9b和出库输送技术机构9c。FIG. 1 shows an exemplary warehousing and picking system 1, which includes a building 2 having a cargo entrance 3 and a cargo exit 4. The warehousing and picking system 1 also includes a cargo warehouse 5 having storage shelves 6 and a shelf operator 7 that moves between the storage shelves 6. In this example, the cargo warehouse 5 is divided into a plurality of storage areas 8a…8e. Storage shelves 6 are provided in the storage areas 8a…8d, whereas the storage area 8e is formed by a parking area on the ground. The warehousing and picking system 1 also includes a conveying technical mechanism 9 that connects the cargo warehouse 5 to the cargo entrance 3 and the cargo exit 4. In this example, the conveying technical mechanism 9 is divided into an inbound conveying technical mechanism 9a, a warehouse conveying technical mechanism 9b, and an outbound conveying technical mechanism 9c.
在这个示例中，入库输送技术机构9a包括多个入库区段10a…10e。第一入库区段10a将货物入口3与第二入库区段10b连接，该第二入库区段在这里环形地构造或构造为“回路”。多个第三入库区段10c从第二入库区段10b引导到货架操作器7并且因此将第二入库区段10b与货物仓库5连接。第四入库区段10d(不可见)与第一入库区段10a连接，并且第五入库区段10e设置在最右侧的货架操作器7的区域中。第一入库区段10a、第四入库区段10d和第五入库区段10e还构成用于独立的地面输送车辆11a…11c的转运站。In this example, the storage conveying technical mechanism 9a includes a plurality of storage sections 10a ... 10e. The first storage section 10a connects the cargo entrance 3 with the second storage section 10b, which is here constructed in a ring shape or as a "loop". A plurality of third storage sections 10c lead from the second storage section 10b to the shelf operator 7 and thus connect the second storage section 10b to the cargo warehouse 5. The fourth storage section 10d (not visible) is connected to the first storage section 10a, and the fifth storage section 10e is arranged in the area of the shelf operator 7 on the far right. The first storage section 10a, the fourth storage section 10d and the fifth storage section 10e also constitute a transfer station for independent ground transport vehicles 11a ... 11c.
仓库输送技术机构9b主要包括货架操作器7，但也可以包括在货物仓库5的区域中的其他输送机、例如在仓储货架6的区域中的竖直输送机和水平输送机。The warehouse conveyor system 9 b comprises essentially the storage rack operator 7 , but can also comprise further conveyors in the area of the goods warehouse 5 , for example vertical conveyors and horizontal conveyors in the area of the storage racks 6 .
在这个示例中，出库输送技术机构9c包括三个出库区段12a…12c。第一出库区段12a将货物仓库5与拣选区域13连接，并且第二出库区段12b将拣选区域13与货物出口4连接。第三出库区段12c又构成用于独立的地面输送车辆11a…11c的转运站，所述第三出库区段在这里与拣选区域13连接。在转运站处，可以将件货18从位置固定的输送技术机构转移到独立的地面输送车辆11a…11c，并且反之亦然。独立的地面输送车辆11a…11c可以在转运站之间、即在第一入库区段10a、第四入库区段10d、第五入库区段10e与第三入库区段12c之间输送件货18、即货物16a…16h或具有货物16a…16h的装载辅助器件17a…17g。In this example, the outbound conveying technical mechanism 9c includes three outbound sections 12a…12c. The first outbound section 12a connects the cargo warehouse 5 with the picking area 13, and the second outbound section 12b connects the picking area 13 with the cargo exit 4. The third outbound section 12c in turn constitutes a transfer station for independent ground conveying vehicles 11a…11c, which are connected to the picking area 13 here. At the transfer station, piece goods 18 can be transferred from the fixed-position conveying technical mechanism to the independent ground conveying vehicle 11a…11c, and vice versa. The independent ground conveying vehicle 11a…11c can transport piece goods 18, that is, goods 16a…16h or loading auxiliary devices 17a…17g with goods 16a…16h, between the transfer stations, that is, between the first inbound section 10a, the fourth inbound section 10d, the fifth inbound section 10e and the third inbound section 12c.
拣选区域13未在图1中详细示出并且在示出的示例中包括可选的自动拣选站14、可选的手动拣选站15(二者均象征性地示出)和内部的未示出的输送技术机构9。The picking area 13 is not shown in detail in FIG. 1 and in the example shown comprises an optional automatic picking station 14 , an optional manual picking station 15 (both shown symbolically) and an internal conveyor system 9 (not shown).
入库区段10a…10e、货架操作器7和出库区段12a…12c是位置固定的输送技术机构9的部分。独立的地面输送车辆11a…11c是可移动的并且因此不仅是入库输送技术机构9a和出库输送技术机构9c的部分。而且它也是仓库输送技术机构9b的部分，因为它可以直接访问仓储区域8e中的仓储场地。The inbound section 10a ... 10e, the shelf operator 7 and the outbound section 12a ... 12c are part of the stationary conveying technology 9. The independent ground transport vehicle 11a ... 11c is mobile and is therefore not only part of the inbound conveying technology 9a and the outbound conveying technology 9c. It is also part of the warehouse conveying technology 9b, because it can directly access the storage space in the storage area 8e.
货物16a…16h可以直接地或借助于装载辅助器件17a…17g存放到仓储货架6和仓储区域8e中。同样地，货物16a…16h可以直接地或借助于输送技术机构9上的装载辅助器件17a…17g和借助于独立的地面输送车辆11a…11c运输。装载辅助器件17a…17g在此可以特别是设计为具有固定的底部和侧壁的托盘、纸箱或容器。在本公开的范围内，装载辅助器件17a…17g和在没有装载辅助器件17a…17g的情况下运输和存放的货物16a…16h通常构成件货18。在图1中，仅货物16a和装载辅助器件17b明确标记为件货18。但是，这种配设当然也适用于其余货物16b…16h和装载辅助器件17a、17c…17g。Goods 16a ... 16h can be stored in the storage shelves 6 and the storage area 8e directly or with the help of loading aids 17a ... 17g. Similarly, goods 16a ... 16h can be transported directly or with the help of loading aids 17a ... 17g on the conveying technical mechanism 9 and with the help of independent ground conveying vehicles 11a ... 11c. The loading aids 17a ... 17g can be designed in particular as pallets, cartons or containers with fixed bottoms and side walls. Within the scope of the present disclosure, the loading aids 17a ... 17g and the goods 16a ... 16h transported and stored without the loading aids 17a ... 17g usually constitute piece goods 18. In Figure 1, only the goods 16a and the loading aids 17b are clearly marked as piece goods 18. However, this configuration is of course also applicable to the remaining goods 16b ... 16h and the loading aids 17a, 17c ... 17g.
在输送技术机构9的区域中、特别是在入库输送技术机构的区域中、例如在第一入库区段10a的区域中，存在用于确定件货18的件货特性a的件货测量装置19，稍后详细阐释该件货测量装置。In the area of the conveyor system 9 , in particular in the area of the infeed conveyor system, for example in the area of the first infeed section 10 a , there is a piece-goods measuring device 19 for determining a piece-goods property a of the piece-goods 18 , which will be explained in more detail below.
此外，入库输送技术机构9a包括重新装载站20，该重新装载站具有入货输送区段21a、重新装载机器人22和出货输送区段21b。在第二入库区段10b的区域中设置有转向装置23，借助于该转向装置将件货18有选择地在“回路”上进一步输送或转向到重新装载站20中。稍后同样详细地阐释重新装载站20。In addition, the inbound conveying technology 9a includes a reloading station 20, which has an inbound conveying section 21a, a reloading robot 22 and an outbound conveying section 21b. In the area of the second inbound section 10b, a diverting device 23 is provided, by means of which the pieces of goods 18 are selectively further conveyed or diverted on the "loop" into the reloading station 20. The reloading station 20 will also be explained in detail later.
转向装置23包括转向器件或偏转装置、例如辊转向器、带转换器或推动器(Pusher)，其本身由(如下所述的)控制装置35操控。输送技术机构9可以包括所述转向装置。The deflection device 23 comprises deflection means or deflection devices, for example roller deflectors, belt converters or pushers, which in turn are controlled by a control device 35 (described below). The conveying system 9 can comprise such a deflection device.
最后，在图1中也示出安装在输送技术机构9上的或至少配设给输送技术机构9的位置标记24。具体而言，所述位置标记处于故障位置A上，故障位置的重要性同样稍后详细阐释。Finally, Fig. 1 also shows a position marking 24 which is mounted on the conveyor system 9 or at least assigned to the conveyor system 9. Specifically, the position marking is located at a fault position A, the significance of which will also be explained in detail later.
图2现在以详细图示出示例件的件货测量装置19。具体而言，该货测量装置在示出的示例中包括激光扫描仪25。然而也可设想的是：件货测量装置19包括用于检测件货特性a的相机(特别是3D相机)或其他传感器。在件货测量装置19的区域中存在件货18，其理想地具有理论形状B(在这里是具有倒圆的角部的长方体形状)。事实上，件货18然而也具有达到理论形状B下面的凹部C和突出于理论形状B的凸部D。可选的RFID标签26和可选的条形码27也设置在件货18上。在件货测量装置19的区域中还存在第一入库区段10a的以马达M驱动的输送带28。取代输送带28，输送辊当然也可以直接与件货18接触并且驱动件货。多个输送辊特别是可以经由皮带相互连接，以便同步驱动所述输送辊。FIG. 2 now shows a detailed diagram of a piece of goods measuring device 19 of an example piece. Specifically, the piece of goods measuring device includes a laser scanner 25 in the example shown. However, it is also conceivable that the piece of goods measuring device 19 includes a camera (especially a 3D camera) or other sensors for detecting the characteristics a of the piece of goods. In the area of the piece of goods measuring device 19, there is a piece of goods 18, which ideally has a theoretical shape B (here a rectangular parallelepiped with rounded corners). In fact, the piece of goods 18 also has a concave portion C that reaches below the theoretical shape B and a convex portion D that protrudes from the theoretical shape B. An optional RFID tag 26 and an optional barcode 27 are also provided on the piece of goods 18. In the area of the piece of goods measuring device 19, there is also a conveyor belt 28 driven by a motor M of the first storage section 10a. Instead of the conveyor belt 28, the conveyor roller can of course also directly contact the piece of goods 18 and drive the piece of goods. Multiple conveyor rollers can be connected to each other, in particular, via belts, so as to drive the conveyor rollers synchronously.
凹部C或凸部D例如可以通过凹部C/凸部D与理论形状B的(最大)法向距离、通过偏离理论形状B的面积、通过在凹部C/凸部D与理论形状B之间围成的体积或通过从所给出的参量之一或由这些参量的组合导出的尺寸数来给出。尺寸数例如可以是上述的面积与理论形状B的表面之间的(无量纲的)比例或者是上述的体积与理论形状B的体积之间的(无量纲的)比例。件货18与理论形状B的偏差也可以包含件货18上的偏差位置，例如“上”、“下”、“左”、“右”、“前”、“后”。The recess C or the protrusion D can be given, for example, by the (maximum) normal distance between the recess C/protrusion D and the theoretical shape B, by the area deviating from the theoretical shape B, by the volume enclosed between the recess C/protrusion D and the theoretical shape B, or by a dimension number derived from one of the given parameters or a combination of these parameters. The dimension number can be, for example, the (dimensionless) ratio between the above-mentioned area and the surface of the theoretical shape B or the (dimensionless) ratio between the above-mentioned volume and the volume of the theoretical shape B. The deviation of the piece of goods 18 from the theoretical shape B can also include the deviation position on the piece of goods 18, such as "up", "down", "left", "right", "front", "back".
除了件货18与理论形状B的偏差之外，也可以确定和评估其他件货特性a、例如件货18的重量(如果重量在送到仓储和拣选系统1中之前并不是已知的，则件货测量装置19会包括秤)、件货18的尺寸(例如长度、宽度、高度、表面积或体积)或件货18的表面状况。表面状况特别是可以件货18的表面摩擦系数。然而，特别是当件货在表面上是吸湿的(并且在那里例如由卡纸或木料构成)时，表面状况例如也可以是件货18的湿度值。In addition to the deviation of the piece of goods 18 from the ideal shape B, other piece of goods properties a can also be determined and evaluated, such as the weight of the piece of goods 18 (if the weight is not known before delivery to the storage and picking system 1, the piece of goods measuring device 19 can include a scale), the dimensions of the piece of goods 18 (e.g. length, width, height, surface area or volume) or the surface condition of the piece of goods 18. The surface condition can be, in particular, the coefficient of friction of the surface of the piece of goods 18. However, in particular when the piece of goods is hygroscopic on the surface (and there, for example, consists of cardboard or wood), the surface condition can also be, for example, the moisture value of the piece of goods 18.
经常通过根据现有技术的件货测量装置19或与其相关的评估单元进行有关输送特性的分类，例如“不可输送的”、“可输送的”、“可不良输送的”、“可良好输送的”。对于本公开的目的，这些输送特性同样可以理解为件货特性a，即使其严格而言描述的是件货18与输送技术机构9之间的相互作用。这种件货测量装置19特别是可以理解为已经根据现有技术使用的件货测量装置19，该件货测量装置具体地确定件货18与理论形状B的偏差并且由此导出输送特性。Frequently, a classification of the conveying characteristics, such as "non-conveyable", "conveyable", "poorly conveyable", "well conveyable", is performed by means of a load measuring device 19 according to the prior art or an evaluation unit associated therewith. For the purposes of the present disclosure, these conveying characteristics are also to be understood as load characteristics a, even if they strictly describe the interaction between the load 18 and the conveyor system 9. Such a load measuring device 19 is to be understood in particular as a load measuring device 19 already used according to the prior art, which specifically determines the deviation of the load 18 from the target shape B and derives the conveying characteristics therefrom.
图3现在示出仓储和拣选系统1的控制和计算架构的框图。其包括已经在图1和图2中原则上公开的件货测量装置19，该件货测量装置在这里具有激光扫描仪25以及与其连接的测量处理模块29，借助于该测量处理模块可以控制测量过程并且可以评估或分析由激光扫描仪25获得的数据。由激光扫描仪25和测量处理模块29确定的件货特性a借助于测量处理模块29的写入装置30写入在数据存储器31中并且存储在那里以用于以后使用。FIG3 now shows a block diagram of the control and computing architecture of the storage and picking system 1. It comprises the piece goods measuring device 19 already disclosed in principle in FIG1 and FIG2, which here has a laser scanner 25 and a measurement processing module 29 connected thereto, by means of which the measurement process can be controlled and the data obtained by the laser scanner 25 can be evaluated or analyzed. The piece goods characteristic a determined by the laser scanner 25 and the measurement processing module 29 is written to a data memory 31 by means of a writing device 30 of the measurement processing module 29 and stored there for later use.
在输送技术机构9的路线中可以设有监控和分类单元32，该监控和分类单元设置成用于确定在运输件货18时有故障并且然后将件货18的运输分类为有故障的，或者当在可预定的观察时段内通过监控和分类单元32确认在运输该件货18时没有故障时将运输分类为无故障的。具体地，监控和分类单元32包括多个传感器33a、33b和与其连接的监控/分类处理模块34。在这个示例中，传感器33a具体地构造为相机，传感器33b例如可以是电流传感器，该电流传感器测量马达M的马达电流。传感器33a、33b检测件货18'(它在稍后的时间点是件货18)并且与监控/分类处理模块34共同监控件货18'的运输。A monitoring and classification unit 32 may be provided in the route of the conveying technical mechanism 9, and the monitoring and classification unit is configured to determine that there is a fault in the transportation of the piece of cargo 18 and then classify the transportation of the piece of cargo 18 as faulty, or classify the transportation as fault-free when it is confirmed by the monitoring and classification unit 32 that there is no fault in the transportation of the piece of cargo 18 within a predeterminable observation period. Specifically, the monitoring and classification unit 32 includes a plurality of sensors 33a, 33b and a monitoring/classification processing module 34 connected thereto. In this example, the sensor 33a is specifically configured as a camera, and the sensor 33b may be, for example, a current sensor that measures the motor current of the motor M. The sensors 33a, 33b detect the piece of cargo 18' (which is the piece of cargo 18 at a later point in time) and monitor the transportation of the piece of cargo 18' together with the monitoring/classification processing module 34.
这样的运输通过控制装置35控制，该控制装置出于这目的将运行参数b传输给输送技术机构9。运行参数b例如可以理解为马达M的转速或转速变化曲线。Such transport is controlled by a control device 35, which for this purpose transmits an operating parameter b to the conveyor system 9. An operating parameter b may be understood to be a rotational speed of the motor M or a rotational speed profile, for example.
将数据存储器31中的件货特性a和由监控和分类单元32确定的运输分类c馈入到自学习算法36中。该自学习算法可以从对于多个件货18获得的数据根据件货18的件货特性a计算在运输件货18时出现故障的概率(简称“故障概率”d)。这个故障概率d可以在输出单元37上显示或者可以用作控制装置35的输入参数。The piece of cargo characteristic a in the data memory 31 and the transport classification c determined by the monitoring and classification unit 32 are fed into the self-learning algorithm 36. The self-learning algorithm can calculate the probability of a fault occurring during the transport of the piece of cargo 18 ("fault probability" d for short) from the data obtained for a plurality of piece of cargo 18 according to the piece of cargo characteristic a of the piece of cargo 18. This fault probability d can be displayed on the output unit 37 or can be used as an input parameter of the control device 35.
图3示出仓储和拣选系统1的控制和计算架构，其中特别涉及自学习算法36的学习过程。而在图4中特别示出自学习算法36的结果如何在运行阶段期间用于运行仓储和拣选系统1。3 shows the control and computing architecture of the storage and order picking system 1, particularly with regard to the learning process of the self-learning algorithm 36. FIG4 shows in particular how the results of the self-learning algorithm 36 are used to operate the storage and order picking system 1 during the operating phase.
一旦检测到件货18的件货特性a，就将所述件货特性馈入到自学习算法36中(即不只是存储在数据存储器31中)。在这个时间点，尚不知晓这个件货18是否(正好)在输送技术机构9上运输时造成故障，因为这种可能的事件是在未来的。因此，从监控和分类单元32到自学习算法36的箭头在图4中用虚线绘制。然而，从学习阶段可知：具有相同或相似特性的件货18是否经常或不太经常地造成故障。因此，自学习算法36可以创建对件货18的预测。形式为故障概率d的这种预测可以在输出单元37上显示或者将所述预测馈入到控制装置35中。As soon as a piece of freight 18 has been detected as a piece of freight, it is fed into the self-learning algorithm 36 (i.e. not just stored in the data memory 31). At this point in time, it is not yet known whether this piece of freight 18 will (just) cause a fault during transport on the conveying technology 9, since this possible event is in the future. Therefore, the arrow from the monitoring and classification unit 32 to the self-learning algorithm 36 is drawn with a dotted line in FIG. 4 . However, it is known from the learning phase whether pieces of freight 18 with the same or similar characteristics often or less often cause faults. Therefore, the self-learning algorithm 36 can create a prediction for the piece of freight 18. This prediction in the form of a probability of failure d can be displayed on the output unit 37 or the prediction can be fed into the control device 35.
总之因此得到如下流程，该流程也在图6中以流程图的形式显示：In summary, the following process is obtained, which is also shown in the form of a flow chart in FIG. 6 :
a)利用仓储和拣选系统1的件货测量装置19确定要由仓储和拣选系统1的输送技术机构9运输的件货18的件货特性a(步骤601)，a) determining, by means of a piece measuring device 19 of the storage and order picking system 1, a piece property a of a piece 18 to be transported by the conveyor technology 9 of the storage and order picking system 1 (step 601),
b)分别基于所确定的件货特性a利用仓储和拣选系统1的输出单元37输出出现故障的故障概率d和/或利用仓储和拣选系统1的控制装置35当可能出现故障时引入降低出现所述故障的概率的措施(步骤602)，b) outputting a failure probability d of a failure by using the output unit 37 of the storage and order picking system 1 based on the determined piece goods characteristic a and/or introducing measures to reduce the probability of the failure when a failure is likely to occur by using the control device 35 of the storage and order picking system 1 (step 602),
c)将所确定的件货特性a存储在配设给件货18的数据存储器31中(步骤603)，c) storing the determined piece of goods characteristic a in the data memory 31 assigned to the piece of goods 18 (step 603),
d)利用仓储和拣选系统1的输送技术机构9运输件货18(步骤604)，d) transporting the pieces of goods 18 using the conveying technology 9 of the storage and picking system 1 (step 604),
e)通过仓储和拣选系统1的监控和分类单元32监控该件货18的运输，并且当通过监控和分类单元32确认在运输该件货18时有故障时将运输分类为有故障的，或者当在可预定的观察时段内通过监控和分类单元32确认在运输该件货18时没有故障时通过监控和分类单元32将运输分类为无故障的(步骤605)，e) monitoring the transport of the piece of cargo 18 by the monitoring and classification unit 32 of the storage and picking system 1, and classifying the transport as faulty when a fault is confirmed by the monitoring and classification unit 32 when transporting the piece of cargo 18, or classifying the transport as non-faulty when no fault is confirmed by the monitoring and classification unit 32 when transporting the piece of cargo 18 within a predeterminable observation period (step 605),
f)将所存储的件货特性a和件货18的运输的在步骤e)中确定的运输分类c馈入到自学习算法36中(步骤606)，f) feeding the stored piece load characteristics a and the transport classification c of the transport of the piece load 18 determined in step e) into the self-learning algorithm 36 (step 606),
g)对于多个件货18重复步骤a)至f)，并且在运输不同件货18时借助于自学习算法36根据不同件货的件货特性a计算出现故障的故障概率d，对于不同件货完成步骤a)至f)(循环607)。g) Repeat steps a) to f) for multiple piece goods 18, and when transporting different piece goods 18, use the self-learning algorithm 36 to calculate the failure probability d of the failure based on the piece goods characteristics a of different piece goods, and complete steps a) to f) for different piece goods (loop 607).
特别是在此能实现在多次完成步骤a)和c)至f)之后才实施步骤b)。也就是说保证：在运行阶段之前有足够长的学习阶段。特别是可设想的是：已经完成学习阶段的自学习算法36在仓储和拣选系统1中建立。换言之，来自其他仓储和拣选系统1的经验可以在仓储和拣选系统1中使用。因此，学习阶段不是在“零”时开始、而是从仓储和拣选系统1的预期行为开始。因此，可以对应地较快地适配在仓储和拣选系统1中实际存在的条件。当然，学习和运行阶段也可以并行进行。关于确定的件货18，人们则从在运输过去的件货18时获得的经验受益，并且同时为未来的件货18创造经验。这在图6中由代表故障概率d的反作用的虚线箭头表示。In particular, it is possible to implement step b only after completing steps a) and c) to f) multiple times. In other words, it is ensured that there is a sufficiently long learning phase before the operating phase. In particular, it is conceivable that the self-learning algorithm 36 that has completed the learning phase is established in the storage and picking system 1. In other words, the experience from other storage and picking systems 1 can be used in the storage and picking system 1. Therefore, the learning phase does not start at "zero", but from the expected behavior of the storage and picking system 1. Therefore, the conditions actually existing in the storage and picking system 1 can be adapted accordingly and faster. Of course, the learning and operating phases can also be carried out in parallel. With regard to a specific piece of goods 18, people benefit from the experience gained when transporting past piece of goods 18, and at the same time create experience for future piece of goods 18. This is represented in Figure 6 by the dotted arrow representing the reaction of the probability of failure d.
也应注意：步骤602和603也可以以不同的顺序或同时实施。这类似情况适用于同样同时实施的步骤604和605。It should also be noted that steps 602 and 603 may also be performed in a different order or simultaneously. Similar situations apply to steps 604 and 605 which are also performed simultaneously.
图5示出仓储和拣选系统1的控制和计算架构的另一种变型方案，其类似于在图3和图4中示出的架构，但在监控和分类单元32的结构和数据存储器31的实现方面不同。在这种情况下，监控和分类单元32包括具有读取装置39的移动数据采集单元38，利用所述读取装置可以读取件货18上的RFID标签26和/或条形码27。特别是也可设想的是：读取装置39构造用于读取在输送技术机构9上设置的或至少配设给输送技术机构的位置标记24(参见图1)。这个位置标记24同样可以构造为RFID标签或条形码。FIG. 5 shows another variant of the control and computing architecture of the storage and picking system 1, which is similar to the architecture shown in FIGS. 3 and 4, but differs in the structure of the monitoring and sorting unit 32 and the implementation of the data memory 31. In this case, the monitoring and sorting unit 32 comprises a mobile data acquisition unit 38 with a reading device 39, with which the RFID tags 26 and/or bar codes 27 on the goods 18 can be read. In particular, it is also conceivable that the reading device 39 is designed to read a position mark 24 (see FIG. 1) provided on the conveying technology 9 or at least assigned to the conveying technology. This position mark 24 can also be designed as an RFID tag or a bar code.
可设想的是：数据存储器31包含在RFID标签26中。因此也可设想的是：移动数据采集单元38直接确定件货特性a。这在图5中示出，从该图中也可看出：在这种情况下，件货特性a从监控和分类单元32传输给自学习算法36。也就是说，从设置在件货18上的数据存储器31(RFID标签26)读取配设给件货18的件货特性a，并且将件货特性a与运输分类c共同传输给自学习算法36。It is conceivable that the data memory 31 is contained in the RFID tag 26. It is therefore also conceivable that the mobile data acquisition unit 38 directly determines the piece of freight characteristic a. This is shown in FIG. 5 , from which it can also be seen that in this case, the piece of freight characteristic a is transmitted from the monitoring and classification unit 32 to the self-learning algorithm 36. That is, the piece of freight characteristic a assigned to the piece of freight 18 is read from the data memory 31 (RFID tag 26) provided on the piece of freight 18 and the piece of freight characteristic a is transmitted to the self-learning algorithm 36 together with the transport classification c.
然而也可设想的是：移动数据采集单元38例如通过读取条形码27或RFID标签26来确定件货18的标识e，在这个实施方式中条形码或RFID标签仅存储件货18的标识e、但不存储件货的件货特性a。因此，在这种情况下，确定在件货18上设置的标识e，从数据存储器31读取配设给标识e的件货特性a，并且将件货特性a与运输分类c共同传输给自学习算法36。However, it is also conceivable that the mobile data acquisition unit 38 determines the identification e of the piece of freight 18, for example by reading a barcode 27 or an RFID tag 26, which in this embodiment stores only the identification e of the piece of freight 18 but not the piece of freight characteristic a of the piece of freight. In this case, therefore, the identification e set on the piece of freight 18 is determined, the piece of freight characteristic a assigned to the identification e is read from the data memory 31, and the piece of freight characteristic a is transmitted together with the transport classification c to the self-learning algorithm 36.
在这一点上要注意：件货18的标识e不是一定必须通过移动数据采集单元38确定，而是件货18也可以通过监控和分类单元32的固定安装的传感器33a、33b确定、特别是通过相机33a确定。为完整起见也要注意：监控和分类单元32不仅可以包括固定安装的传感器33a、33b、而且可以包括移动数据采集单元38。At this point it should be noted that the identification e of the piece of freight 18 does not necessarily have to be determined by the mobile data acquisition unit 38, but the piece of freight 18 can also be determined by the fixedly installed sensors 33a, 33b of the monitoring and classification unit 32, in particular by the camera 33a. For the sake of completeness it should also be noted that the monitoring and classification unit 32 can include not only the fixedly installed sensors 33a, 33b but also the mobile data acquisition unit 38.
对于在步骤b)中引入的用于避免故障的措施，现在提供一系列可能性，所述可能性在下面示例性地而非详尽无遗地列出：For the measures introduced in step b) for avoiding faults, a series of possibilities are now provided, which are listed below by way of example and not exhaustively:
-)在重新装载站20处将包含在装载辅助器件17a中的货物16c重新装载到另外的装载辅助器件17b中或引入这样的重新装载。-) Reloading of the goods 16c contained in the loading aid 17a into a further loading aid 17b at the reloading station 20 or initiation of such reloading.
-)考虑出现故障的故障位置A，以用于确定故障概率d，并且特别是绕过所预测的故障位置A或改变输送技术机构9在所预测的故障位置A上的运行参数b。-) Taking into account the fault location A at which the fault occurred in order to determine the fault probability d and, in particular, bypassing the predicted fault location A or changing operating parameters b of the conveying system 9 at the predicted fault location A.
-)考虑输送技术机构9在故障位置A上的运行状态，并且特别是绕过所预测的故障位置A或改变输送技术机构9在所预测的故障位置A上的运行参数b，如果所确定的运行状态表明这一点的话。-) Taking into account the operating state of the conveyor system 9 at the fault location A and, in particular, bypassing the predicted fault location A or changing an operating parameter b of the conveyor system 9 at the predicted fault location A, if the determined operating state indicates this.
-)考虑在直到出现故障已经过去的故障时间和/或在直到出现故障已经由件货18经过的故障位移。特别是可以在经过故障时间之后或在经过故障位移之后自动地采取上述措施之一，或者也可以通过件货测量装置19重新评估件货18。-) taking into account the fault time that has elapsed until the fault occurs and/or the fault distance that has been covered by the load 18 until the fault occurs. In particular, one of the above measures can be automatically taken after the fault time has elapsed or after the fault distance has elapsed, or the load 18 can also be re-evaluated by the load measuring device 19.
在步骤b)中引入的用于避免故障的措施特别是可以当故障概率d超过可预定的阈值时引入。以这种方式，可以控制仓储和拣选系统1对所预测的故障起反应的敏感程度。当所述故障概率d超过10％、超过20％或超过其他可预定的值时，例如可以在步骤b)中引入基于出现故障的故障概率d的措施。The measures for avoiding a fault initiated in step b) can be initiated in particular when the probability of a fault d exceeds a predeterminable threshold value. In this way, the sensitivity with which the storage and order picking system 1 reacts to a predicted fault can be controlled. For example, measures based on the probability of a fault d of an occurring fault can be initiated in step b) when the probability of a fault d exceeds 10%, exceeds 20% or exceeds another predeterminable value.
详细而言，这意味着以下内容：In detail, this means the following:
当件货18是装载有货物16c的装载辅助器件17a时，在步骤b)中引入的措施可以在于，在仓储和拣选系统1的重新装载站20处将包含在(源)装载辅助器件17a中的货物16c重新装载到另外的(目标)装载辅助器件17b中或引入这样的重新装载，并且随后以步骤a)继续或在仓储和拣选系统1的输送技术机构9上在没有完成步骤a)至g)的情况下运输所述另外的(目标)装载辅助器件17b。When the piece of goods 18 is a loading aid 17a loaded with goods 16c, the measures introduced in step b) may consist in reloading the goods 16c contained in the (source) loading aid 17a into another (target) loading aid 17b at the reloading station 20 of the warehousing and picking system 1 or introducing such a reloading, and then continuing with step a) or transporting the other (target) loading aid 17b on the conveying technology 9 of the warehousing and picking system 1 without completing steps a) to g).
也就是说，将包含在(源)装载辅助器件17a中的货物16c重新装载到不太可能出现故障的(目标)装载辅助器件17b中。如果将(目标)装载辅助器件17b可以先验分级为正常的，则可以在没有完成步骤a)至g)的情况下在仓储和拣选系统1的输送技术机构9上运输该装载辅助器件。如果不能先验地假定(目标)装载辅助器件17的符合正常的状态，则可以以步骤a)继续。货物16c从(源)装载辅助器件17a到(目标)装载辅助器件17b的重新装载可以是手动地或自动地(如在这里通过重新装载机器人22)进行或手动与自动组合地进行。That is, the goods 16c contained in the (source) loading aid 17a are reloaded into the (target) loading aid 17b, which is less likely to fail. If the (target) loading aid 17b can be classified as normal a priori, the loading aid can be transported on the conveying technology 9 of the storage and picking system 1 without completing steps a) to g). If the normal state of the (target) loading aid 17 cannot be assumed a priori, it is possible to continue with step a). The reloading of the goods 16c from the (source) loading aid 17a to the (target) loading aid 17b can be carried out manually or automatically (such as here by the reloading robot 22) or a combination of manual and automatic.
这个过程能在图1中清楚地看到。在故障概率d超过20％时例如可以规定：将有关的件货18通过转向装置23引到重新装载站20，在这里如所述那样重新装载货物16c。当故障概率d低于其时，在第二入库区段10b(回路)上进一步运输件货18。转向装置23因此设置用于将件货18根据故障概率d直接运输到仓储区域8a…8d或重新装载站20。This process can be clearly seen in FIG. 1 . For example, if the probability of failure d exceeds 20%, it can be provided that the relevant piece of goods 18 are directed to the reloading station 20 via the diverting device 23, where the goods 16c are reloaded as described. If the probability of failure d is lower than this, the piece of goods 18 are transported further on the second storage section 10b (loop). The diverting device 23 is therefore provided for transporting the piece of goods 18 directly to the storage area 8a ... 8d or the reloading station 20 depending on the probability of failure d.
也可设想的是：在步骤e)中由监控和分类单元32检测出现故障的故障位置a，在步骤f)中将所述故障位置馈入到自学习算法36中，并且在步骤b)和g)中如下考虑所述故障位置，使得在运输件货18时出现故障的故障概率d根据件货18的件货特性a并且根据故障位置A给出。由此，可以标识仓储和拣选系统1中的对于件货特性a的确定的分类关键的位置，即在这些位置上在运输该件货18时经常出现故障。It is also conceivable that in step e) the fault location a at which the fault occurred is detected by the monitoring and classification unit 32, the fault location is fed into the self-learning algorithm 36 in step f), and the fault location is taken into account in steps b) and g) in such a way that the fault probability d of a fault occurring during the transport of the piece goods 18 is given as a function of the piece goods characteristic a of the piece goods 18 and as a function of the fault location A. As a result, locations in the storage and picking system 1 that are critical for the specific classification of the piece goods characteristic a can be identified, i.e., at these locations faults frequently occur during the transport of the piece goods 18.
在步骤b)中引入的措施现在特别是可以在于，特别是当或仅当故障概率d通过绕过所预测的故障位置a变得较小时，在绕过所预测的故障位置A的情况下在仓储和拣选系统1的输送技术机构9上运输件货18。这种可能性特别是当仓储和拣选系统1内的多个运输路径自由选择地用于件货18时开启。例如可以规定：将件货18入库到在入库过程(和必要时还有出库过程)期间较少可能或不太可能故障的仓储区域8a、8c、8d、8e中。也就是说，由于所预测的故障，避免入库到仓储区域8b中。也可以规定：将件货18经由在运输期间较少可能或不太可能故障的运输路线运输到确定的目的地。当在位置固定的输送技术机构上运输时存在故障时，例如可以利用独立的地面输送车辆11a…11c运输有关的件货18。也可设想的是：如果对于在自动拣选站14上的备选的自动拣选过程可能故障，则拣选区域13中的拣选过程(其中件货18用作源装载辅助器件17d)在手动拣选站14处进行，并且反之亦然。The measures introduced in step b) can now be, in particular, transporting the piece goods 18 on the conveying technical mechanism 9 of the storage and picking system 1 while bypassing the predicted fault location A, in particular when or only when the probability of failure d becomes smaller by bypassing the predicted fault location a. This possibility is opened in particular when a plurality of transport paths within the storage and picking system 1 are freely selectable for the piece goods 18. For example, it can be provided that the piece goods 18 are stored in the storage areas 8a, 8c, 8d, 8e which are less likely or less likely to fail during the storage process (and, if necessary, the unloading process). That is, due to the predicted failure, storage in the storage area 8b is avoided. It can also be provided that the piece goods 18 are transported to a certain destination via a transport route which is less likely or less likely to fail during transportation. When a failure occurs during transportation on a fixed-position conveying technical mechanism, for example, the relevant piece goods 18 can be transported using independent ground transport vehicles 11a...11c. It is also conceivable that if an alternative automatic picking process at the automatic picking station 14 fails, the picking process in the picking area 13 (in which the pieces 18 are used as source loading aids 17d) is carried out at the manual picking station 14, and vice versa.
也可以组合先前提到的两个变型方案。假设：件货18是装载有货物16c的装载辅助器件17a，在步骤b)中引入的措施可以在于，The two previously mentioned variants can also be combined. Assuming that the piece of cargo 18 is a loading aid 17a loaded with cargo 16c, the measures introduced in step b) can be,
i)将件货18在绕过所预测的故障位置A的情况下在仓储和拣选系统1的输送技术机构9上运输，如果这是可能的话，或者i) transporting the piece goods 18 on the conveyor technology 9 of the storage and order picking system 1 bypassing the predicted fault location A, if this is possible, or
ii)如果步骤i)是不可能的话，在仓储和拣选系统1的重新装载站20处将包含在装载辅助器件17a中的货物16c重新装载到另外的装载辅助器件17b中并且随后以步骤a)继续或将所述另外的装载辅助器件17b在没有完成步骤a)至g)的情况下在仓储和拣选系统1的输送技术机构9上运输。ii) If step i) is not possible, the goods 16c contained in the loading aid 17a are reloaded into a further loading aid 17b at the reloading station 20 of the storage and picking system 1 and then continued with step a) or the further loading aid 17b is transported on the conveying technology 9 of the storage and picking system 1 without completing steps a) to g).
在这个变型方案中，尽可能避免(耗时的)重新装载过程，即当可以通过在绕过所预测的故障位置A的情况下在仓储和拣选系统1的输送技术机构9上运输件货18来避免所预测的故障时。必要时也可以当虽然步骤i)原则上是可能的、但由此能实现的故障概率d降低变得很小、特别是小于通过步骤ii)能实现的故障概率d降低时实施步骤ii)。In this variant, (time-consuming) reloading processes are avoided as far as possible, i.e., when the predicted fault can be avoided by transporting the parts 18 on the conveyor system 9 of the storage and sorting system 1 while bypassing the predicted fault location A. If necessary, step ii) can also be carried out when, although step i) is in principle possible, the reduction in the probability of fault d that can be achieved thereby is very small, in particular less than the reduction in the probability of fault d that can be achieved by step ii).
也可设想的是：在步骤b)中引入的措施在于，特别是当或仅当故障概率d在改变所预测的故障位置A上的运行参数b时变得较低时，改变输送技术机构9在所预测的故障位置A上的运行参数b。这种可能性特别是当在所预测的故障位置A上为输送技术机构9提供能调节的运行参数b时开启。运行参数b是对于输送技术机构9能调节的调节参数，以用于影响输送技术机构9的运行。运行参数b例如可以理解为输送技术机构9上的输送速度和/或输送技术机构9上的加速度。例如可设想的是：在输送件货18时在所预测的故障位置A上降低输送速度和/或加速度。It is also conceivable that the measure introduced in step b) consists in changing the operating parameter b of the conveying technical device 9 at the predicted fault location A, in particular when or only when the probability of failure d becomes lower when changing the operating parameter b at the predicted fault location A. This possibility is opened in particular when adjustable operating parameters b are provided for the conveying technical device 9 at the predicted fault location A. The operating parameter b is an adjustable regulating parameter for the conveying technical device 9 in order to influence the operation of the conveying technical device 9. The operating parameter b can be understood, for example, as a conveying speed on the conveying technical device 9 and/or an acceleration on the conveying technical device 9. For example, it is conceivable that the conveying speed and/or the acceleration are reduced at the predicted fault location A when conveying the piece of cargo 18.
又可设想的是：仅有条件地重新装载货物16c。当件货18是装载有货物16c的装载辅助器件17a时，在步骤b)中引入的措施例如可以在于：It is also conceivable that the goods 16c are only reloaded conditionally. When the piece of goods 18 is a loading aid 17a loaded with goods 16c, the measures introduced in step b) may be, for example:
i)改变输送技术机构9在预测故障位置A上的运行参数b，如果这是可能的话，或者i) changing the operating parameters b of the conveyor system 9 at the predicted fault location A, if this is possible, or
ii)如果步骤i)是不可能的话，在仓储和拣选系统1的重新装载站20处将包含在装载辅助器件17a中的货物16c重新装载到另外的装载辅助器件17b中并且随后以步骤a)继续或将所述另外的装载辅助器件17b在没有完成步骤a)至g)的情况下在仓储和拣选系统1的输送技术机构9上运输。ii) If step i) is not possible, the goods 16c contained in the loading aid 17a are reloaded into a further loading aid 17b at the reloading station 20 of the storage and picking system 1 and then continued with step a) or the further loading aid 17b is transported on the conveying technology 9 of the storage and picking system 1 without completing steps a) to g).
在这个变型方案中，同样尽可能避免(耗时的)重新加载过程，即当可以通过改变输送技术机构9在所预测的故障位置A上的运行参数b来避免所预测的故障时。必要时也可以当虽然步骤i)原则上是可能的、但由此能实现的故障概率d降低变得很小、特别是小于通过步骤ii)能实现的故障概率d的降低时实施步骤ii)。In this variant, (time-consuming) reloading processes are also avoided as far as possible, i.e., when the predicted fault can be avoided by changing the operating parameters b of the conveyor system 9 at the predicted fault location A. If necessary, step ii) can also be carried out when, although step i) is in principle possible, the reduction in the probability of fault d that can be achieved thereby becomes very small, in particular less than the reduction in the probability of fault d that can be achieved by step ii).
还可以设想组合目前提出的变型方案以用于避免故障。假设：件货18是装载有货物16c的装载辅助器件17a，在步骤b)中引入的措施可以在于：It is also conceivable to combine the variants proposed so far for avoiding malfunctions. Assuming that the piece of cargo 18 is a loading aid 17a loaded with cargo 16c, the measures introduced in step b) may be:
i)将件货18在绕过所预测的故障位置A的情况下在仓储和拣选系统1的输送技术机构9上运输，如果这是可能的话，或者i) transporting the piece goods 18 on the conveyor technology 9 of the storage and order picking system 1 bypassing the predicted fault location A, if this is possible, or
ii)改变输送技术机构9在预测故障位置A上的运行参数b，如果这是可能的话，或者ii) changing the operating parameters b of the conveyor system 9 at the predicted fault location A, if this is possible, or
iii)如果步骤i)和/或步骤ii)是不可能的话，在仓储和拣选系统1的重新装载站20处将包含在装载辅助器件17a中的货物16c重新装载到另外的装载辅助器件17b并且随后以步骤a)继续或将所述另外的装载辅助器件17b在没有完成步骤a)至g)的情况下在仓储和拣选系统1的输送技术机构9上运输。iii) If step i) and/or step ii) are not possible, the goods 16c contained in the loading aid 17a are reloaded onto a further loading aid 17b at the reloading station 20 of the storage and picking system 1 and then continued with step a) or the further loading aid 17b is transported on the conveying technology 9 of the storage and picking system 1 without completing steps a) to g).
在这个变型方案中，尽可能避免(耗时的)重新装载过程，即当可以通过将件货18在绕过所预测的故障位置A的情况下在仓储和拣选系统1的输送技术机构9上运输或者通过改变输送技术机构9在所预测的故障位置A上的运行参数b来避免所预测的故障时。必要时也可以当虽然步骤i)或步骤ii)原则上是可能的、但由此能实现的故障概率d降低变得很小、特别是小于通过步骤iii)能实现的故障概率d的降低时实施步骤iii)。对于步骤i)和ii)可以进行固定的优先级排序(即仅当步骤i)是不可能的时实施步骤ii)或者反之亦然)或者根据能实现的故障概率d降低进行优先级排序(即实施步骤i)或ii)中的能实现最大的故障概率d降低的步骤)。In this variant, (time-consuming) reloading processes are avoided as much as possible, i.e., when the predicted fault can be avoided by transporting the piece of goods 18 on the conveying system 9 of the storage and sorting system 1 while bypassing the predicted fault location A or by changing the operating parameters b of the conveying system 9 at the predicted fault location A. If necessary, step iii can also be implemented when, although step i) or step ii) is in principle possible, the reduction in the probability of fault d that can be achieved thereby becomes very small, in particular, less than the reduction in the probability of fault d that can be achieved by step iii). For steps i) and ii), a fixed prioritization can be performed (i.e., step ii) is only performed when step i) is not possible or vice versa) or a prioritization is performed according to the achievable reduction in the probability of fault d (i.e., the step in step i) or ii) that achieves the greatest reduction in the probability of fault d is performed).
有利的是：对于如下件货18跳过步骤f)，对于所述件货，在步骤b)中引入的措施在于，将件货18在绕过所预测的故障位置A的情况下在仓储和拣选系统1的输送技术机构9上运输，或者对于所述件货，在步骤b)中引入的措施在于，改变输送技术机构9在所预测的故障位置A上的运行参数b。由此避免：自学习算法36错误地假设已经造成主动干预以避免故障的关键件货18原则上是不关键的，因它其实际上不会造成故障(然而这在用于避免故障的主动干预中是有根据的)。有关的件货18例如可以以“标志”标记并且排除在学习过程之外。对于自学习算法36，其则实际上不存在，如同在货物16c从一个装载辅助器件17a重新装载到另外的装载辅助器件17b时也是所述情况。在这里，(预计)造成故障的件货18(也在物理上)被摒弃并且因此不再发生在进一步的过程中。除了步骤f)，也可以跳过步骤e)。It is advantageous to skip step f) for the following piece goods 18, for which the measure introduced in step b) is to transport the piece goods 18 on the conveying technology 9 of the storage and picking system 1 while bypassing the predicted fault location A, or for which the measure introduced in step b) is to change the operating parameters b of the conveying technology 9 at the predicted fault location A. This avoids: the self-learning algorithm 36 erroneously assumes that the critical piece goods 18 that have caused active intervention to avoid the fault are in principle not critical, because they will not actually cause the fault (however, this is justified in the active intervention to avoid the fault). The relevant piece goods 18 can be marked with a "flag" and excluded from the learning process, for example. For the self-learning algorithm 36, it does not actually exist, as is also the case when the goods 16c are reloaded from one loading aid 17a to another loading aid 17b. Here, the piece goods 18 that (predicted) cause the fault are (also physically) discarded and therefore no longer occur in the further process. In addition to step f), step e) can also be skipped.
还可设想的是：在步骤e)中检测输送技术机构9在故障位置a上的运行状态，在步骤f)中将所述运行状态馈入到自学习算法36中，并且在步骤b)和g)中如下考虑所述运行状态，使得在运输件货18时出现故障的故障概率d根据件货18的件货特性a、根据故障位置A并且根据故障位置A上的运行状态给出。由此，可以识别故障位置A上的运行状态，该故障位置对于件货特性a的确定的分类是关键的，即其中在运输该件货18时经常出现故障。输送技术机构9的“运行状态”特别也是预定的运行参数b的结果。例如可以提供与输送技术机构9的负载相关的值例如“空转”、“部分负载运行”或“满负载运行”，或者与故障相关的值例如“正常运行”或“故障运行”。当然，运行状态也可以采用详细地表征的值并且特别是详细地描述故障。所提到的“运行状态”例如可以通过输送装置的振动来表征或对其描述，例如当在输送装置的旋转部分中发生轴承损坏时。例如会设想的是：在统计学上观察，轻的件货18经常从竖直升降机掉落，该竖直升降机的引导系统不再毫无问题地工作并且因此在其上出现增强的振动。It is also conceivable that in step e) the operating state of the conveying technical device 9 at the fault location a is detected, in step f) the operating state is fed into the self-learning algorithm 36, and in steps b) and g) the operating state is taken into account as follows, so that the probability of failure d of a failure occurring when transporting the piece of goods 18 is given according to the piece of goods characteristic a of the piece of goods 18, according to the fault location A and according to the operating state at the fault location A. Thus, the operating state at the fault location A can be identified, which is critical for the classification of the determined characteristics of the piece of goods a, i.e., where a failure often occurs when transporting the piece of goods 18. The "operating state" of the conveying technical device 9 is also a result of the predetermined operating parameters b. For example, values related to the load of the conveying technical device 9, such as "idling", "partial load operation" or "full load operation", or values related to the fault, such as "normal operation" or "faulty operation" can be provided. Of course, the operating state can also adopt a value characterized in detail and in particular describe the fault in detail. The mentioned "operating state" can be characterized or described, for example, by the vibration of the conveying device, for example, when a bearing damage occurs in the rotating part of the conveying device. For example, it may be assumed that, based on statistical observations, light piece goods 18 often fall from a vertical lift, the guide system of which no longer functions properly and therefore increases vibrations occur therein.
特别是可以规定：仅当对于在所预测的故障位置A上存在的运行状态可能有故障时引入在运输件货18时在仓储和拣选系统1的输送技术机构9上绕过所预测的故障位置A或者改变输送技术机构9在所预测的故障位置A上的运行参数b。这个变型方案考虑：输送技术机构9的运行状态可以随时间改变。这种情况特别是涉及对输送技术机构9的维修，在此之后运行状态可能突然变好。故障位置A例如可以对于件货特性a的确定的分类在维修之后突然是不关键的，由此可以避免件货18的不必要的改道或对运行参数b的不必要的干预。这个变型方案特别是也可以应用于更上面提到的实施方式的步骤i)、ii)和iii)，在此考虑故障位置A上的运行状态。一个例子是维修上面述及的竖直升降机的有缺陷的引导系统，由此可以避免未来过度的振动。在统计学上观察，即使是轻的件货18也不会再经常(或根本不会)意外地从竖直升降机掉落。In particular, it can be provided that only when there is a possible fault for the operating state existing at the predicted fault position A, the predicted fault position A is bypassed on the conveying technical mechanism 9 of the storage and picking system 1 during the transport of the piece goods 18 or the operating parameters b of the conveying technical mechanism 9 at the predicted fault position A are changed. This variant takes into account that the operating state of the conveying technical mechanism 9 can change over time. This situation particularly relates to the maintenance of the conveying technical mechanism 9, after which the operating state may suddenly improve. The fault position A, for example, can suddenly become uncritical for a certain classification of the piece goods characteristic a after the maintenance, thereby avoiding unnecessary diversion of the piece goods 18 or unnecessary intervention in the operating parameters b. This variant can also be applied in particular to steps i), ii) and iii) of the above-mentioned embodiment, in which the operating state at the fault position A is taken into account. An example is the maintenance of the defective guide system of the vertical lift mentioned above, thereby avoiding excessive vibrations in the future. Statistically, even light piece goods 18 will no longer fall accidentally from the vertical lift frequently (or at all).
在另一个实施变型方案中，在步骤e)中由监控和分类单元32检测从(在货物入口3处的)件货18转移到输送技术机构9上的时间点直到在故障位置A上出现故障所经过的故障时间和/或从件货18在输送技术机构9上直到出现故障所经过的故障位移，在步骤f)中将所述故障时间和/或所述故障位移馈入到自学习算法36中，并且在步骤b)和g)中如下考虑所述故障时间和/或所述故障位移，使得在运输件货18时出现故障的故障概率d根据件货18的件货特性a并且根据故障时间和/或故障位移给出。由此可以确定：是较可能在件货18在输送技术机构9上的确定的停留时间之后出现故障，还是较可能在输送技术机构9上经过确定的路径之后出现故障，并且因此应有利地实施步骤b)。所述及的位移特别是可以(仅)与所经过的位移距离有关或者也包含路线信息。当件货18经常经过担心件货特性a变化的位置时，例如更可能预期到故障。例如经过入货和出货可能导致件货18的不利变形。在上述思考中可以考虑将件货18在仓库5中入库的时间段(即在最简单的情况下从将件货18转移到输送技术机构9上直到出现故障之间所经过的时间扣除)，因为件货特性a的显著变化不能在单纯存放时预期。这特别是涉及件货18的变形。In another embodiment variant, in step e), the monitoring and classification unit 32 detects the fault time from the time when the piece of goods 18 (at the goods inlet 3) is transferred to the conveying technical means 9 until the fault occurs at the fault location A and/or the fault displacement from the piece of goods 18 on the conveying technical means 9 until the fault occurs, and in step f), the fault time and/or the fault displacement are fed into the self-learning algorithm 36, and in steps b) and g), the fault time and/or the fault displacement are taken into account as follows, so that the fault probability d of the occurrence of a fault when transporting the piece of goods 18 is given according to the piece of goods characteristic a of the piece of goods 18 and according to the fault time and/or the fault displacement. It can be determined from this whether the fault is more likely to occur after a certain residence time of the piece of goods 18 on the conveying technical means 9 or after a certain path on the conveying technical means 9, and therefore step b should be implemented advantageously. The displacement mentioned can be related in particular to the displacement distance (only) traveled or also include route information. When the piece of goods 18 often passes through a location where the change of the piece of goods characteristic a is feared, for example, a fault is more likely to be expected. For example, the incoming and outgoing goods may lead to unfavorable deformations of the goods 18. In the above considerations, the time period during which the goods 18 are stored in the warehouse 5 (i.e., in the simplest case, the time from the transfer of the goods 18 to the conveyor system 9 until the occurrence of the fault) can be taken into account, because significant changes in the characteristics a of the goods cannot be expected during simple storage. This particularly concerns the deformation of the goods 18.
一般来说，对于同一个件货18可以完成多次步骤a)至g)。由此，可以考虑件货特性a的随时间出现的变化。在上述与故障时间和故障位移的关联中，这特别是合乎实际。在那里可以规定：备选于步骤b)的实施，再次完成步骤a)、即再次确定件货18的件货特性a。Generally speaking, steps a) to g) can be performed multiple times for the same piece of cargo 18. This allows changes in the piece of cargo characteristic a that occur over time to be taken into account. This is particularly true in the above-mentioned connection with the fault time and the fault displacement. There it can be provided that, as an alternative to the implementation of step b), step a) is performed again, i.e. the piece of cargo characteristic a of the piece of cargo 18 is determined again.
在这一点上要注意：在图1中示出的结构中，原则上仅借助于自动地面输送车辆11a…11c或通过第一入库区段10a的换向能实现多次确定件货18的件货特性a。件货测量装置19在图1中示出的部位上的设置不是强制性的，而是该件货测量装置也可以设置在其他部位上、例如在第二入库区段10b中。也可设想的是：在输送技术机构9的路线中、特别是在出库输送技术机构9c的区域中设置有多个件货测量装置19。At this point it should be noted that in the arrangement shown in FIG. 1 , the piece property a of the piece goods 18 can be determined multiple times in principle only by means of the automated ground transport vehicles 11a ... 11c or by reversing the first inbound section 10a. The arrangement of the piece goods measuring device 19 at the location shown in FIG. 1 is not mandatory, but the piece goods measuring device can also be arranged at other locations, for example in the second inbound section 10b. It is also conceivable that a plurality of piece goods measuring devices 19 are arranged in the route of the conveyor technology 9, in particular in the region of the outbound conveyor technology 9c.
此外，在这一点上也指出：在仓储和拣选系统1中可以存在从出库侧到入库侧的(在图1中未示出的)输送轨道，在所述输送轨道上例如在拣选过程之后可以将不再需要的装载辅助器件17a…17g运输到入库侧。出于这个目的，当然也可以使用自动地面输送车辆11a…11c。因此，同一个装载辅助器件17a…17g可以在仓储和拣选系统1中相对较长地循环。Furthermore, it is also pointed out at this point that in the storage and picking system 1 there can be a conveyor track (not shown in FIG. 1 ) from the outbound side to the inbound side, on which, for example, after a picking process, no longer required loading aids 17a ... 17g can be transported to the inbound side. For this purpose, of course, automated ground transport vehicles 11a ... 11c can also be used. Thus, the same loading aid 17a ... 17g can circulate relatively long in the storage and picking system 1.
最后也可设想的是：步骤b)、e)、f)和g)可以与从件货18转移到输送技术机构9上的时间点直到出现故障所经过的故障时间和/或从件货18在输送技术机构9上直到出现故障所经过的故障位移无关地实施。研究已证实：故障经常在件货18转移到输送技术机构9上(在这里在货物入口3处)之后不久出现并且之后较小可能出现。在这个变型方案中省去对故障时间和/或故障位移的考虑，以有利于所述自学习算法36的简化结构。Finally, it is also conceivable that steps b), e), f) and g) can be carried out independently of the fault time and/or the fault distance from the time when the piece of goods 18 was transferred to the conveyor system 9 until the fault occurred. Studies have shown that faults often occur shortly after the piece of goods 18 was transferred to the conveyor system 9 (here at the goods inlet 3) and are less likely to occur thereafter. In this variant, the consideration of the fault time and/or the fault distance is omitted in order to simplify the structure of the self-learning algorithm 36.
总之，通过所提出的措施，件货18在仓储和拣选系统1的输送技术机构9上造成的故障归因于所述件货的件货特性a或者说与所述件货特性有关。通过收集多个件货18的有关信息，可以识别出现故障的“模式”(如果存在这样的模式的话)。一旦这种知识从经验中得到，就可以预测故障，并且可以确定和显示故障的概率d。还可以引入对策，以便避免所预测的故障的实际出现。以这种方式，特别是可以在事后识别出由在仓库和拣选系统1的规划阶段中不考虑或不能考虑的确定的件货18对仓库和拣选系统1的负面影响。In summary, through the proposed measures, the faults caused by the piece goods 18 on the conveying technology 9 of the storage and picking system 1 are attributed to the piece goods characteristics a of the piece goods or are related to the piece goods characteristics. By collecting relevant information about multiple piece goods 18, the "mode" of the occurrence of faults (if such a mode exists) can be identified. Once this knowledge is obtained from experience, the fault can be predicted and the probability d of the fault can be determined and displayed. Countermeasures can also be introduced to avoid the actual occurrence of the predicted fault. In this way, in particular, the negative impact of certain piece goods 18 on the warehouse and picking system 1 that was not taken into account or could not be taken into account in the planning stage of the warehouse and picking system 1 can be identified afterwards.
最后指出：保护范围通过权利要求确定。然而，为了解释权利要求考虑说明书和附图。所示出和所描述的不同实施例的单个特征或特征组合本身可以是独立的有创造性的解决方案。基于独立的有创造性的解决方案的任务可以从说明书得出。Finally, it should be noted that the scope of protection is determined by the claims. However, the description and the drawings are taken into account for the interpretation of the claims. Individual features or combinations of features of the different exemplary embodiments shown and described can themselves be independent inventive solutions. Tasks based on independent inventive solutions can be derived from the description.
特别是还指出：所示出的装置实际上也可以包括比所示出的多或少的组件。在一些情况下，所示出的装置或其组件也可以不按比例地和/或放大和/或缩小地示出。In particular, it is also pointed out that the illustrated device may actually include more or fewer components than those illustrated. In some cases, the illustrated device or its components may also be illustrated not to scale and/or in an enlarged and/or reduced manner.
附图标记列表Reference numerals list
1 仓储和拣选系统1 Warehousing and picking systems
2 建筑物2 Buildings
3 货物入口3. Cargo Import
4 货物出口4 Export of goods
5 货物仓库5 Cargo warehouse
6 仓储货架6 Storage shelves
7 货架操作器7 Shelf Operator
8a…8e 仓储区域8a…8e Storage area
9 输送技术机构9 Conveying technology organization
9a 入库输送技术机构9a Warehouse transportation technology organization
9b 仓库输送技术机构9b Warehouse transportation technology organization
9c 出库输送技术机构9c Outbound delivery technology organization
10a…10e 入库区段10a…10e Storage section
11a…11c 独立的地面输送车辆11a…11c Independent ground transport vehicles
12a…12c 出库区段12a…12c Outbound section
13 拣选区域13 Picking Area
14 自动拣选站14 Automatic Picking Stations
15 手动拣选站15 Manual picking stations
16a…16h 货物16a…16h Goods
17a…17g 装载辅助器件17a…17g Loading aids
18 件货18 items
19 件货测量装置19 Piece Measurement Device
20 重新装载站20 Reloading Station
21a 入货输送区段21a Incoming conveyor section
21b 出货输送区段21b Shipping conveyor section
22 重新装载机器人22 Reload Robot
23 转向装置23 Steering device
24 位置标记24 Position markers
25 激光扫描仪25 Laser Scanner
26 RFID标签26 RFID tags
27 条形码27 Barcode
28 输送带28 Conveyor belt
29 测量处理模块29 Measurement Processing Module
30 写入装置30 Writing device
31 数据存储器31 Data storage
32 监控和分类单元32 Monitoring and Classification Unit
33a、33b 传感器33a, 33b Sensors
34 监控/分类处理模块34 Monitoring/classification processing module
35 控制装置35 Control Device
36 自学习算法36 Self-learning algorithm
37 输出单元37 Output Unit
38 移动数据采集单元38 Mobile Data Acquisition Unit
39 读取装置39 Reading device
a 件货特性a. Characteristics of piece goods
b 运行参数b. Operation parameters
c 运输分类c. Transport Classification
d 故障概率d Failure probability
e 识别e Identification
A 故障位置A Fault location
B 理论形状B Theoretical shape
C 凹部C Concave
D 凸部D Convex
M 马达。M motor.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ATA51089/2019AAT523218B1 (en) | 2019-12-13 | 2019-12-13 | Storage and picking system and method for predicting and/or preventing a future disruption |
| ATA51089/2019 | 2019-12-13 | ||
| PCT/AT2020/060436WO2021113886A1 (en) | 2019-12-13 | 2020-12-07 | Storage and picking system and method for predicting and/or averting a future disruption |
| Publication Number | Publication Date |
|---|---|
| CN114787054A CN114787054A (en) | 2022-07-22 |
| CN114787054Btrue CN114787054B (en) | 2024-10-15 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080085874.5AActiveCN114787054B (en) | 2019-12-13 | 2020-12-07 | Warehousing and picking systems and methods for predicting and/or avoiding future failures |
| Country | Link |
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| US (1) | US12397992B2 (en) |
| EP (1) | EP4072977B1 (en) |
| CN (1) | CN114787054B (en) |
| AT (1) | AT523218B1 (en) |
| CA (1) | CA3163882C (en) |
| ES (1) | ES2984659T3 (en) |
| WO (1) | WO2021113886A1 (en) |
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| Publication number | Publication date |
|---|---|
| CA3163882A1 (en) | 2021-06-17 |
| CA3163882C (en) | 2023-12-05 |
| CN114787054A (en) | 2022-07-22 |
| AT523218A1 (en) | 2021-06-15 |
| EP4072977C0 (en) | 2024-05-15 |
| AT523218B1 (en) | 2021-12-15 |
| EP4072977B1 (en) | 2024-05-15 |
| WO2021113886A1 (en) | 2021-06-17 |
| EP4072977A1 (en) | 2022-10-19 |
| US20230013246A1 (en) | 2023-01-19 |
| ES2984659T3 (en) | 2024-10-30 |
| US12397992B2 (en) | 2025-08-26 |
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| CP03 | Change of name, title or address | Address after:Austria Ma Hitler lunk Patentee after:TGW Holdings Ltd. Country or region after:Austria Address before:Austria Ma Hitler lunk Patentee before:TGW LOGISTICS Group GmbH Country or region before:Austria | |
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| TR01 | Transfer of patent right | Effective date of registration:20250624 Address after:Ao Dili Patentee after:TGW Logistics Technology Co.,Ltd. Country or region after:Austria Address before:Austria Welles Patentee before:TGW Holdings Ltd. Country or region before:Austria |